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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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43
src_testbed/ui.rs
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@@ -1,5 +1,6 @@
use rapier::counters::Counters;
use rapier::math::Real;
use std::num::NonZeroUsize;
use crate::debug_render::DebugRenderPipelineResource;
use crate::harness::Harness;
@@ -98,43 +99,25 @@ pub fn update_ui(
let integration_parameters = &mut harness.physics.integration_parameters;
ui.checkbox(
&mut integration_parameters.interleave_restitution_and_friction_resolution,
"interleave friction resolution",
);
if state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
|| state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
{
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 1..=200)
.text("pos. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_stabilization_iterations,
1..=200,
)
.text("vel. iters."),
);
let mut num_iterations = integration_parameters.num_solver_iterations.get();
ui.add(Slider::new(&mut num_iterations, 1..=40).text("pos. iters."));
integration_parameters.num_solver_iterations =
NonZeroUsize::new(num_iterations).unwrap();
} else {
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 1..=200)
.text("vel. rest. iters."),
);
let mut num_iterations = integration_parameters.num_solver_iterations.get();
ui.add(Slider::new(&mut num_iterations, 1..=40).text("num solver iters."));
integration_parameters.num_solver_iterations =
NonZeroUsize::new(num_iterations).unwrap();
ui.add(
Slider::new(
&mut integration_parameters.max_velocity_friction_iterations,
1..=200,
&mut integration_parameters.num_friction_iteration_per_solver_iteration,
1..=40,
)
.text("vel. frict. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_stabilization_iterations,
1..=200,
)
.text("vel. stab. iters."),
.text("frict. iters. per solver iters."),
);
}