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Fix trimesh/shape collision-detection when the trimesh was input as the second shape.

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This commit is contained in:
Crozet Sébastien
2020-09-28 11:01:42 +02:00
parent f3f2b57f88
commit ba0a85a0a3
1 changed files with 26 additions and 26 deletions
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52
src/geometry/contact_generator/trimesh_shape_contact_generator.rs
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@@ -40,6 +40,12 @@ fn do_generate_contacts(
ctxt: &mut ContactGenerationContext,
flipped: bool,
) {
let ctxt_pair_pair = if flipped {
ctxt.pair.pair.swap()
} else {
ctxt.pair.pair
};
let workspace: &mut TrimeshShapeContactGeneratorWorkspace = ctxt
.pair
.generator_workspace
@@ -78,7 +84,7 @@ fn do_generate_contacts(
// and rebuilt. In this case, we hate to reconstruct the `old_interferences`
// array using the subshape ids from the contact manifolds.
// TODO: always rely on the subshape ids instead of maintaining `.ord_interferences` ?
let ctxt_collider1 = ctxt.pair.pair.collider1;
let ctxt_collider1 = ctxt_pair_pair.collider1;
workspace.old_interferences = workspace
.old_manifolds
.iter()
@@ -91,13 +97,16 @@ fn do_generate_contacts(
})
.collect();
}
assert_eq!(
workspace
.old_interferences
.len()
.min(trimesh1.num_triangles()),
workspace.old_manifolds.len()
);
// This assertion may fire due to the invalid triangle_ids that the
// near-phase may return (due to SIMD sentinels).
//
// assert_eq!(
// workspace
// .old_interferences
// .len()
// .min(trimesh1.num_triangles()),
// workspace.old_manifolds.len()
// );
trimesh1
.waabbs()
@@ -118,6 +127,7 @@ fn do_generate_contacts(
// than the max.
continue;
}
if !same_local_aabb2 {
loop {
match old_inter_it.peek() {
@@ -131,23 +141,13 @@ fn do_generate_contacts(
let manifold = if old_inter_it.peek() != Some(triangle_id) {
// We don't have a manifold for this triangle yet.
if flipped {
ContactManifold::with_subshape_indices(
ctxt.pair.pair,
collider2,
collider1,
*triangle_id,
0,
)
} else {
ContactManifold::with_subshape_indices(
ctxt.pair.pair,
collider1,
collider2,
0,
*triangle_id,
)
}
ContactManifold::with_subshape_indices(
ctxt_pair_pair,
collider1,
collider2,
*triangle_id,
0,
)
} else {
// We already have a manifold for this triangle.
old_inter_it.next();
@@ -163,7 +163,7 @@ fn do_generate_contacts(
.dispatcher
.dispatch_primitives(&triangle1, collider2.shape());
let mut ctxt2 = if ctxt.pair.pair.collider1 != manifold.pair.collider1 {
let mut ctxt2 = if ctxt_pair_pair.collider1 != manifold.pair.collider1 {
PrimitiveContactGenerationContext {
prediction_distance: ctxt.prediction_distance,
collider1: collider2,