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feat!: rename BroadPhase to BroadPhaseMultiSap

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This commit is contained in:
Sébastien Crozet
2024-03-23 13:26:53 +01:00
committed by Sébastien Crozet
parent cd9fb8342d
commit cfb2c2c93e
11 changed files with 41 additions and 38 deletions
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2
examples3d-f64/debug_serialized3.rs
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@@ -4,7 +4,7 @@ use rapier_testbed3d::Testbed;
#[derive(serde::Deserialize)] #[derive(serde::Deserialize)]
struct State { struct State {
pub islands: IslandManager, pub islands: IslandManager,
pub broad_phase: BroadPhase, pub broad_phase: BroadPhaseMultiSap,
pub narrow_phase: NarrowPhase, pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet, pub bodies: RigidBodySet,
pub colliders: ColliderSet, pub colliders: ColliderSet,

2
examples3d/debug_deserialize3.rs
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@@ -6,7 +6,7 @@ struct PhysicsState {
pub gravity: Vector<f32>, pub gravity: Vector<f32>,
pub integration_parameters: IntegrationParameters, pub integration_parameters: IntegrationParameters,
pub islands: IslandManager, pub islands: IslandManager,
pub broad_phase: BroadPhase, pub broad_phase: BroadPhaseMultiSap,
pub narrow_phase: NarrowPhase, pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet, pub bodies: RigidBodySet,
pub colliders: ColliderSet, pub colliders: ColliderSet,

14
src/geometry/broad_phase_multi_sap/broad_phase.rs → src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
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@@ -74,7 +74,7 @@ use parry::utils::hashmap::HashMap;
/// broad-phase, as well as the Aabbs of all the regions part of this broad-phase. /// broad-phase, as well as the Aabbs of all the regions part of this broad-phase.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)] #[derive(Clone)]
pub struct BroadPhase { pub struct BroadPhaseMultiSap {
proxies: SAPProxies, proxies: SAPProxies,
layers: Vec<SAPLayer>, layers: Vec<SAPLayer>,
smallest_layer: u8, smallest_layer: u8,
@@ -114,16 +114,16 @@ pub struct BroadPhase {
reporting: HashMap<(u32, u32), bool>, // Workspace reporting: HashMap<(u32, u32), bool>, // Workspace
} }
impl Default for BroadPhase { impl Default for BroadPhaseMultiSap {
fn default() -> Self { fn default() -> Self {
Self::new() Self::new()
} }
} }
impl BroadPhase { impl BroadPhaseMultiSap {
/// Create a new empty broad-phase. /// Create a new empty broad-phase.
pub fn new() -> Self { pub fn new() -> Self {
BroadPhase { BroadPhaseMultiSap {
proxies: SAPProxies::new(), proxies: SAPProxies::new(),
layers: Vec::new(), layers: Vec::new(),
smallest_layer: 0, smallest_layer: 0,
@@ -138,7 +138,7 @@ impl BroadPhase {
/// ///
/// For each colliders marked as removed, we make their containing layer mark /// For each colliders marked as removed, we make their containing layer mark
/// its proxy as pre-deleted. The actual proxy removal will happen at the end /// its proxy as pre-deleted. The actual proxy removal will happen at the end
/// of the `BroadPhase::update`. /// of the `BroadPhaseMultiSap::update`.
fn handle_removed_colliders(&mut self, removed_colliders: &[ColliderHandle]) { fn handle_removed_colliders(&mut self, removed_colliders: &[ColliderHandle]) {
// For each removed collider, remove the corresponding proxy. // For each removed collider, remove the corresponding proxy.
for removed in removed_colliders { for removed in removed_colliders {
@@ -623,11 +623,11 @@ mod test {
use crate::dynamics::{ use crate::dynamics::{
ImpulseJointSet, IslandManager, MultibodyJointSet, RigidBodyBuilder, RigidBodySet, ImpulseJointSet, IslandManager, MultibodyJointSet, RigidBodyBuilder, RigidBodySet,
}; };
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet}; use crate::geometry::{BroadPhaseMultiSap, ColliderBuilder, ColliderSet};
#[test] #[test]
fn test_add_update_remove() { fn test_add_update_remove() {
let mut broad_phase = BroadPhase::new(); let mut broad_phase = BroadPhaseMultiSap::new();
let mut bodies = RigidBodySet::new(); let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new(); let mut colliders = ColliderSet::new();
let mut impulse_joints = ImpulseJointSet::new(); let mut impulse_joints = ImpulseJointSet::new();

4
src/geometry/broad_phase_multi_sap/mod.rs
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@@ -1,4 +1,4 @@
pub use self::broad_phase::BroadPhase; pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair}; pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
pub use self::sap_proxy::SAPProxyIndex; pub use self::sap_proxy::SAPProxyIndex;
@@ -9,7 +9,7 @@ use self::sap_proxy::*;
use self::sap_region::*; use self::sap_region::*;
use self::sap_utils::*; use self::sap_utils::*;
mod broad_phase; mod broad_phase_multi_sap;
mod broad_phase_pair_event; mod broad_phase_pair_event;
mod sap_axis; mod sap_axis;
mod sap_endpoint; mod sap_endpoint;

4
src/geometry/broad_phase_multi_sap/sap_layer.rs
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@@ -71,7 +71,7 @@ impl SAPLayer {
/// ///
/// This method must be called in a bottom-up loop, propagating new regions from the /// This method must be called in a bottom-up loop, propagating new regions from the
/// smallest layer, up to the largest layer. That loop is done by the Phase 3 of the /// smallest layer, up to the largest layer. That loop is done by the Phase 3 of the
/// BroadPhase::update. /// BroadPhaseMultiSap::update.
pub fn propagate_created_regions( pub fn propagate_created_regions(
&mut self, &mut self,
larger_layer: &mut Self, larger_layer: &mut Self,
@@ -182,7 +182,7 @@ impl SAPLayer {
/// If the region with the given region key does not exist yet, it is created. /// If the region with the given region key does not exist yet, it is created.
/// When a region is created, it creates a new proxy for that region, and its /// When a region is created, it creates a new proxy for that region, and its
/// proxy ID is added to `self.created_region` so it can be propagated during /// proxy ID is added to `self.created_region` so it can be propagated during
/// the Phase 3 of `BroadPhase::update`. /// the Phase 3 of `BroadPhaseMultiSap::update`.
/// ///
/// This returns the proxy ID of the already existing region if it existed, or /// This returns the proxy ID of the already existing region if it existed, or
/// of the new region if it did not exist and has been created by this method. /// of the new region if it did not exist and has been created by this method.

6
src/geometry/broad_phase_qbvh.rs
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@@ -7,20 +7,20 @@ use parry::query::visitors::BoundingVolumeIntersectionsSimultaneousVisitor;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)] #[derive(Clone)]
pub struct BroadPhase { pub struct BroadPhaseQbvh {
qbvh: Qbvh<ColliderHandle>, qbvh: Qbvh<ColliderHandle>,
stack: Vec<(u32, u32)>, stack: Vec<(u32, u32)>,
#[cfg_attr(feature = "serde-serialize", serde(skip))] #[cfg_attr(feature = "serde-serialize", serde(skip))]
workspace: QbvhUpdateWorkspace, workspace: QbvhUpdateWorkspace,
} }
impl Default for BroadPhase { impl Default for BroadPhaseQbvh {
fn default() -> Self { fn default() -> Self {
Self::new() Self::new()
} }
} }
impl BroadPhase { impl BroadPhaseQbvh {
pub fn new() -> Self { pub fn new() -> Self {
Self { Self {
qbvh: Qbvh::new(), qbvh: Qbvh::new(),

4
src/geometry/mod.rs
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@@ -2,8 +2,8 @@
pub use self::broad_phase_multi_sap::{BroadPhasePairEvent, ColliderPair}; pub use self::broad_phase_multi_sap::{BroadPhasePairEvent, ColliderPair};
pub use self::broad_phase_multi_sap::BroadPhase; pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
// pub use self::broad_phase_qbvh::BroadPhase; // pub use self::broad_phase_qbvh::BroadPhaseMultiSap;
pub use self::collider_components::*; pub use self::collider_components::*;
pub use self::contact_pair::{ pub use self::contact_pair::{
ContactData, ContactManifoldData, ContactPair, IntersectionPair, SolverContact, SolverFlags, ContactData, ContactManifoldData, ContactPair, IntersectionPair, SolverContact, SolverFlags,

11
src/pipeline/collision_pipeline.rs
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@@ -2,7 +2,8 @@
use crate::dynamics::{ImpulseJointSet, MultibodyJointSet}; use crate::dynamics::{ImpulseJointSet, MultibodyJointSet};
use crate::geometry::{ use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair, NarrowPhase, BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
NarrowPhase,
}; };
use crate::math::Real; use crate::math::Real;
use crate::pipeline::{EventHandler, PhysicsHooks, QueryPipeline}; use crate::pipeline::{EventHandler, PhysicsHooks, QueryPipeline};
@@ -43,7 +44,7 @@ impl CollisionPipeline {
fn detect_collisions( fn detect_collisions(
&mut self, &mut self,
prediction_distance: Real, prediction_distance: Real,
broad_phase: &mut BroadPhase, broad_phase: &mut BroadPhaseMultiSap,
narrow_phase: &mut NarrowPhase, narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet, bodies: &mut RigidBodySet,
colliders: &mut ColliderSet, colliders: &mut ColliderSet,
@@ -107,7 +108,7 @@ impl CollisionPipeline {
pub fn step( pub fn step(
&mut self, &mut self,
prediction_distance: Real, prediction_distance: Real,
broad_phase: &mut BroadPhase, broad_phase: &mut BroadPhaseMultiSap,
narrow_phase: &mut NarrowPhase, narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet, bodies: &mut RigidBodySet,
colliders: &mut ColliderSet, colliders: &mut ColliderSet,
@@ -192,7 +193,7 @@ mod tests {
let _ = collider_set.insert(collider_b); let _ = collider_set.insert(collider_b);
let integration_parameters = IntegrationParameters::default(); let integration_parameters = IntegrationParameters::default();
let mut broad_phase = BroadPhase::new(); let mut broad_phase = BroadPhaseMultiSap::new();
let mut narrow_phase = NarrowPhase::new(); let mut narrow_phase = NarrowPhase::new();
let mut collision_pipeline = CollisionPipeline::new(); let mut collision_pipeline = CollisionPipeline::new();
let physics_hooks = (); let physics_hooks = ();
@@ -244,7 +245,7 @@ mod tests {
let _ = collider_set.insert(collider_b); let _ = collider_set.insert(collider_b);
let integration_parameters = IntegrationParameters::default(); let integration_parameters = IntegrationParameters::default();
let mut broad_phase = BroadPhase::new(); let mut broad_phase = BroadPhaseMultiSap::new();
let mut narrow_phase = NarrowPhase::new(); let mut narrow_phase = NarrowPhase::new();
let mut collision_pipeline = CollisionPipeline::new(); let mut collision_pipeline = CollisionPipeline::new();
let physics_hooks = (); let physics_hooks = ();

16
src/pipeline/physics_pipeline.rs
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@@ -10,7 +10,7 @@ use crate::dynamics::{
RigidBodyChanges, RigidBodyHandle, RigidBodyPosition, RigidBodyType, RigidBodyChanges, RigidBodyHandle, RigidBodyPosition, RigidBodyType,
}; };
use crate::geometry::{ use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair, BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
ContactManifoldIndex, NarrowPhase, TemporaryInteractionIndex, ContactManifoldIndex, NarrowPhase, TemporaryInteractionIndex,
}; };
use crate::math::{Real, Vector}; use crate::math::{Real, Vector};
@@ -93,7 +93,7 @@ impl PhysicsPipeline {
&mut self, &mut self,
integration_parameters: &IntegrationParameters, integration_parameters: &IntegrationParameters,
islands: &mut IslandManager, islands: &mut IslandManager,
broad_phase: &mut BroadPhase, broad_phase: &mut BroadPhaseMultiSap,
narrow_phase: &mut NarrowPhase, narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet, bodies: &mut RigidBodySet,
colliders: &mut ColliderSet, colliders: &mut ColliderSet,
@@ -406,7 +406,7 @@ impl PhysicsPipeline {
gravity: &Vector<Real>, gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters, integration_parameters: &IntegrationParameters,
islands: &mut IslandManager, islands: &mut IslandManager,
broad_phase: &mut BroadPhase, broad_phase: &mut BroadPhaseMultiSap,
narrow_phase: &mut NarrowPhase, narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet, bodies: &mut RigidBodySet,
colliders: &mut ColliderSet, colliders: &mut ColliderSet,
@@ -650,7 +650,7 @@ mod test {
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, RigidBodyBuilder, CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, RigidBodyBuilder,
RigidBodySet, RigidBodySet,
}; };
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase}; use crate::geometry::{BroadPhaseMultiSap, ColliderBuilder, ColliderSet, NarrowPhase};
use crate::math::Vector; use crate::math::Vector;
use crate::pipeline::PhysicsPipeline; use crate::pipeline::PhysicsPipeline;
use crate::prelude::{MultibodyJointSet, RigidBodyType}; use crate::prelude::{MultibodyJointSet, RigidBodyType};
@@ -661,7 +661,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new(); let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new(); let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new(); let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhase::new(); let mut bf = BroadPhaseMultiSap::new();
let mut nf = NarrowPhase::new(); let mut nf = NarrowPhase::new();
let mut bodies = RigidBodySet::new(); let mut bodies = RigidBodySet::new();
let mut islands = IslandManager::new(); let mut islands = IslandManager::new();
@@ -699,7 +699,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new(); let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new(); let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new(); let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhase::new(); let mut bf = BroadPhaseMultiSap::new();
let mut nf = NarrowPhase::new(); let mut nf = NarrowPhase::new();
let mut islands = IslandManager::new(); let mut islands = IslandManager::new();
@@ -809,7 +809,7 @@ mod test {
let mut pipeline = PhysicsPipeline::new(); let mut pipeline = PhysicsPipeline::new();
let gravity = Vector::y() * -9.81; let gravity = Vector::y() * -9.81;
let integration_parameters = IntegrationParameters::default(); let integration_parameters = IntegrationParameters::default();
let mut broad_phase = BroadPhase::new(); let mut broad_phase = BroadPhaseMultiSap::new();
let mut narrow_phase = NarrowPhase::new(); let mut narrow_phase = NarrowPhase::new();
let mut bodies = RigidBodySet::new(); let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new(); let mut colliders = ColliderSet::new();
@@ -859,7 +859,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new(); let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new(); let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new(); let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhase::new(); let mut bf = BroadPhaseMultiSap::new();
let mut nf = NarrowPhase::new(); let mut nf = NarrowPhase::new();
let mut islands = IslandManager::new(); let mut islands = IslandManager::new();

4
src_testbed/harness/mod.rs
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@@ -9,7 +9,7 @@ use rapier::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet, CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodySet, RigidBodySet,
}; };
use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase}; use rapier::geometry::{BroadPhaseMultiSap, ColliderSet, NarrowPhase};
use rapier::math::{Real, Vector}; use rapier::math::{Real, Vector};
use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline}; use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -179,7 +179,7 @@ impl Harness {
self.physics.hooks = Box::new(hooks); self.physics.hooks = Box::new(hooks);
self.physics.islands = IslandManager::new(); self.physics.islands = IslandManager::new();
self.physics.broad_phase = BroadPhase::new(); self.physics.broad_phase = BroadPhaseMultiSap::new();
self.physics.narrow_phase = NarrowPhase::new(); self.physics.narrow_phase = NarrowPhase::new();
self.state.timestep_id = 0; self.state.timestep_id = 0;
self.state.time = 0.0; self.state.time = 0.0;

12
src_testbed/physics/mod.rs
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@@ -3,7 +3,9 @@ use rapier::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet, CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodySet, RigidBodySet,
}; };
use rapier::geometry::{BroadPhase, ColliderSet, CollisionEvent, ContactForceEvent, NarrowPhase}; use rapier::geometry::{
BroadPhaseMultiSap, ColliderSet, CollisionEvent, ContactForceEvent, NarrowPhase,
};
use rapier::math::{Real, Vector}; use rapier::math::{Real, Vector};
use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline}; use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -20,7 +22,7 @@ pub struct PhysicsSnapshot {
pub struct DeserializedPhysicsSnapshot { pub struct DeserializedPhysicsSnapshot {
pub timestep_id: usize, pub timestep_id: usize,
pub broad_phase: BroadPhase, pub broad_phase: BroadPhaseMultiSap,
pub narrow_phase: NarrowPhase, pub narrow_phase: NarrowPhase,
pub island_manager: IslandManager, pub island_manager: IslandManager,
pub bodies: RigidBodySet, pub bodies: RigidBodySet,
@@ -32,7 +34,7 @@ pub struct DeserializedPhysicsSnapshot {
impl PhysicsSnapshot { impl PhysicsSnapshot {
pub fn new( pub fn new(
timestep_id: usize, timestep_id: usize,
broad_phase: &BroadPhase, broad_phase: &BroadPhaseMultiSap,
narrow_phase: &NarrowPhase, narrow_phase: &NarrowPhase,
island_manager: &IslandManager, island_manager: &IslandManager,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -86,7 +88,7 @@ impl PhysicsSnapshot {
pub struct PhysicsState { pub struct PhysicsState {
pub islands: IslandManager, pub islands: IslandManager,
pub broad_phase: BroadPhase, pub broad_phase: BroadPhaseMultiSap,
pub narrow_phase: NarrowPhase, pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet, pub bodies: RigidBodySet,
pub colliders: ColliderSet, pub colliders: ColliderSet,
@@ -110,7 +112,7 @@ impl PhysicsState {
pub fn new() -> Self { pub fn new() -> Self {
Self { Self {
islands: IslandManager::new(), islands: IslandManager::new(),
broad_phase: BroadPhase::new(), broad_phase: BroadPhaseMultiSap::new(),
narrow_phase: NarrowPhase::new(), narrow_phase: NarrowPhase::new(),
bodies: RigidBodySet::new(), bodies: RigidBodySet::new(),
colliders: ColliderSet::new(), colliders: ColliderSet::new(),