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feat: implement new "small-steps" solver + joint improvements

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This commit is contained in:
Sébastien Crozet
2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
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26
src/dynamics/integration_parameters.rs
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@@ -1,4 +1,5 @@
use crate::math::Real;
use std::num::NonZeroUsize;
/// Parameters for a time-step of the physics engine.
#[derive(Copy, Clone, Debug)]
@@ -43,15 +44,10 @@ pub struct IntegrationParameters {
pub max_penetration_correction: Real,
/// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
pub prediction_distance: Real,
/// Maximum number of iterations performed to solve non-penetration and joint constraints (default: `4`).
pub max_velocity_iterations: usize,
/// Maximum number of iterations performed to solve friction constraints (default: `8`).
pub max_velocity_friction_iterations: usize,
/// Maximum number of iterations performed to remove the energy introduced by penetration corrections (default: `1`).
pub max_stabilization_iterations: usize,
/// If `false`, friction and non-penetration constraints will be solved in the same loop. Otherwise,
/// non-penetration constraints are solved first, and friction constraints are solved after (default: `true`).
pub interleave_restitution_and_friction_resolution: bool,
/// Number of iterations performed to solve friction constraints at solver iteration (default: `2`).
pub num_friction_iteration_per_solver_iteration: usize,
/// The number of solver iterations run by the constraints solver for calculating forces (default: `4`).
pub num_solver_iterations: NonZeroUsize,
/// Minimum number of dynamic bodies in each active island (default: `128`).
pub min_island_size: usize,
/// Maximum number of substeps performed by the solver (default: `1`).
@@ -151,17 +147,15 @@ impl Default for IntegrationParameters {
Self {
dt: 1.0 / 60.0,
min_ccd_dt: 1.0 / 60.0 / 100.0,
erp: 0.8,
damping_ratio: 0.25,
erp: 0.6,
damping_ratio: 1.0,
joint_erp: 1.0,
joint_damping_ratio: 1.0,
allowed_linear_error: 0.001, // 0.005
allowed_linear_error: 0.001,
max_penetration_correction: Real::MAX,
prediction_distance: 0.002,
max_velocity_iterations: 4,
max_velocity_friction_iterations: 8,
max_stabilization_iterations: 1,
interleave_restitution_and_friction_resolution: true, // Enabling this makes a big difference for 2D stability.
num_friction_iteration_per_solver_iteration: 2,
num_solver_iterations: NonZeroUsize::new(4).unwrap(),
// TODO: what is the optimal value for min_island_size?
// It should not be too big so that we don't end up with
// huge islands that don't fit in cache.