nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Implement the ability to run multiple CCD substeps.

Browse Source
This commit is contained in:
Crozet Sébastien
2021-03-29 17:21:49 +02:00
parent 8173e7ada2
commit a733f97028
12 changed files with 244 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files

95
src/pipeline/query_pipeline.rs
View File

@@ -38,6 +38,12 @@ struct QueryPipelineAsCompositeShape<'a> {
groups: InteractionGroups,
}
pub enum QueryPipelineMode {
CurrentPosition,
SweepTestWithNextPosition,
SweepTestWithPredictedPosition { dt: Real },
}
impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
type PartShape = dyn Shape;
type PartId = ColliderHandle;
@@ -113,18 +119,40 @@ impl QueryPipeline {
}
/// Update the acceleration structure on the query pipeline.
pub fn update(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet, use_swept_aabb: bool) {
pub fn update(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet) {
self.update_with_mode(bodies, colliders, QueryPipelineMode::CurrentPosition)
}
/// Update the acceleration structure on the query pipeline.
pub fn update_with_mode(
&mut self,
bodies: &RigidBodySet,
colliders: &ColliderSet,
mode: QueryPipelineMode,
) {
if !self.tree_built {
if !use_swept_aabb {
let data = colliders.iter().map(|(h, c)| (h, c.compute_aabb()));
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
} else {
let data = colliders.iter().map(|(h, co)| {
let next_position =
bodies[co.parent()].next_position * co.position_wrt_parent();
(h, co.compute_swept_aabb(&next_position))
});
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
match mode {
QueryPipelineMode::CurrentPosition => {
let data = colliders.iter().map(|(h, c)| (h, c.compute_aabb()));
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}
QueryPipelineMode::SweepTestWithNextPosition => {
let data = colliders.iter().map(|(h, co)| {
let next_position =
bodies[co.parent()].next_position * co.position_wrt_parent();
(h, co.compute_swept_aabb(&next_position))
});
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
let data = colliders.iter().map(|(h, co)| {
let next_position = bodies[co.parent()]
.predict_position_using_velocity_and_forces(dt)
* co.position_wrt_parent();
(h, co.compute_swept_aabb(&next_position))
});
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}
}
// FIXME: uncomment this once we handle insertion/removals properly.
@@ -141,21 +169,36 @@ impl QueryPipeline {
}
}
if !use_swept_aabb {
self.quadtree.update(
|handle| colliders[*handle].compute_aabb(),
self.dilation_factor,
);
} else {
self.quadtree.update(
|handle| {
let co = &colliders[*handle];
let next_position =
bodies[co.parent()].next_position * co.position_wrt_parent();
co.compute_swept_aabb(&next_position)
},
self.dilation_factor,
);
match mode {
QueryPipelineMode::CurrentPosition => {
self.quadtree.update(
|handle| colliders[*handle].compute_aabb(),
self.dilation_factor,
);
}
QueryPipelineMode::SweepTestWithNextPosition => {
self.quadtree.update(
|handle| {
let co = &colliders[*handle];
let next_position =
bodies[co.parent()].next_position * co.position_wrt_parent();
co.compute_swept_aabb(&next_position)
},
self.dilation_factor,
);
}
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
self.quadtree.update(
|handle| {
let co = &colliders[*handle];
let next_position = bodies[co.parent()]
.predict_position_using_velocity_and_forces(dt)
* co.position_wrt_parent();
co.compute_swept_aabb(&next_position)
},
self.dilation_factor,
);
}
}
}