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

Improve distant object panics in broad phase (#128)

Browse Source 
Co-authored-by: Thierry Berger <contact@thierryberger.com>
This commit is contained in:
Ben Harper
2024-08-06 01:19:52 +10:00
committed by GitHub
parent 7ff92b1cf5
commit af3a26c99d
6 changed files with 42 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/geometry/broad_phase_multi_sap/sap_layer.rs
View File

@@ -1,4 +1,4 @@
use super::{SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
use super::{RegionKey, SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
use crate::geometry::{Aabb, BroadPhaseProxyIndex};
use crate::math::{Point, Real};
@@ -13,9 +13,9 @@ pub(crate) struct SAPLayer {
pub smaller_layer: Option<u8>,
pub larger_layer: Option<u8>,
region_width: Real,
pub regions: HashMap<Point<i32>, BroadPhaseProxyIndex>,
pub regions: HashMap<Point<RegionKey>, BroadPhaseProxyIndex>,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
regions_to_potentially_remove: Vec<Point<i32>>, // Workspace
regions_to_potentially_remove: Vec<Point<RegionKey>>, // Workspace
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub created_regions: Vec<BroadPhaseProxyIndex>,
}
@@ -188,7 +188,7 @@ impl SAPLayer {
/// of the new region if it did not exist and has been created by this method.
pub fn ensure_region_exists(
&mut self,
region_key: Point<i32>,
region_key: Point<RegionKey>,
proxies: &mut SAPProxies,
pool: &mut SAPRegionPool,
) -> BroadPhaseProxyIndex {

16
src/geometry/broad_phase_multi_sap/sap_utils.rs
View File

@@ -1,6 +1,11 @@
use crate::math::{Point, Real, Vector};
use parry::bounding_volume::Aabb;
#[cfg(feature = "f32")]
pub type RegionKey = i32;
#[cfg(feature = "f64")]
pub type RegionKey = i64;
pub(crate) const NUM_SENTINELS: usize = 1;
pub(crate) const NEXT_FREE_SENTINEL: u32 = u32::MAX;
pub(crate) const SENTINEL_VALUE: Real = Real::MAX;
@@ -23,14 +28,19 @@ pub(crate) fn clamp_point(point: Point<Real>) -> Point<Real> {
point.map(|e| na::clamp(e, -MAX_AABB_EXTENT, MAX_AABB_EXTENT))
}
pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<i32> {
pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<RegionKey> {
(point / region_width)
.coords
.map(|e| e.floor() as i32)
.map(|e| {
// If the region is outside this range, the region keys will overlap
assert!(e.floor() < RegionKey::MAX as Real);
assert!(e.floor() > RegionKey::MIN as Real);
e.floor() as RegionKey
})
.into()
}
pub(crate) fn region_aabb(index: Point<i32>, region_width: Real) -> Aabb {
pub(crate) fn region_aabb(index: Point<RegionKey>, region_width: Real) -> Aabb {
let mins = index.coords.map(|i| i as Real * region_width).into();
let maxs = mins + Vector::repeat(region_width);
Aabb::new(mins, maxs)