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Merge branch 'master' into infinite_fall_memory

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This commit is contained in:
Robert Hrusecky
2020-10-06 14:22:26 -05:00
parent 0c1b210109 6b1cd9cd40
commit dd8e25bc47
39 changed files with 1781 additions and 707 deletions
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134
src/geometry/broad_phase_multi_sap.rs
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@@ -1,5 +1,6 @@
use crate::data::pubsub::Subscription;
use crate::dynamics::RigidBodySet;
use crate::geometry::{ColliderHandle, ColliderPair, ColliderSet};
use crate::geometry::{ColliderHandle, ColliderSet, RemovedCollider};
use crate::math::{Point, Vector, DIM};
#[cfg(feature = "enhanced-determinism")]
use crate::utils::FxHashMap32 as HashMap;
@@ -15,6 +16,41 @@ const NEXT_FREE_SENTINEL: u32 = u32::MAX;
const SENTINEL_VALUE: f32 = f32::MAX;
const CELL_WIDTH: f32 = 20.0;
#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct ColliderPair {
pub collider1: ColliderHandle,
pub collider2: ColliderHandle,
}
impl ColliderPair {
pub fn new(collider1: ColliderHandle, collider2: ColliderHandle) -> Self {
ColliderPair {
collider1,
collider2,
}
}
pub fn new_sorted(collider1: ColliderHandle, collider2: ColliderHandle) -> Self {
if collider1.into_raw_parts().0 <= collider2.into_raw_parts().0 {
Self::new(collider1, collider2)
} else {
Self::new(collider2, collider1)
}
}
pub fn swap(self) -> Self {
Self::new(self.collider2, self.collider1)
}
pub fn zero() -> Self {
Self {
collider1: ColliderHandle::from_raw_parts(0, 0),
collider2: ColliderHandle::from_raw_parts(0, 0),
}
}
}
pub enum BroadPhasePairEvent {
AddPair(ColliderPair),
DeletePair(ColliderPair),
@@ -392,6 +428,7 @@ impl SAPRegion {
pub struct BroadPhase {
proxies: Proxies,
regions: HashMap<Point<i32>, SAPRegion>,
removed_colliders: Option<Subscription<RemovedCollider>>,
deleted_any: bool,
// We could think serializing this workspace is useless.
// It turns out is is important to serialize at least its capacity
@@ -480,6 +517,7 @@ impl BroadPhase {
/// Create a new empty broad-phase.
pub fn new() -> Self {
BroadPhase {
removed_colliders: None,
proxies: Proxies::new(),
regions: HashMap::default(),
reporting: HashMap::default(),
@@ -487,46 +525,60 @@ impl BroadPhase {
}
}
pub(crate) fn remove_colliders(&mut self, handles: &[ColliderHandle], colliders: &ColliderSet) {
for collider in handles.iter().filter_map(|h| colliders.get(*h)) {
if collider.proxy_index == crate::INVALID_USIZE {
// This collider has not been added to the broad-phase yet.
continue;
/// Maintain the broad-phase internal state by taking collider removal into account.
pub fn maintain(&mut self, colliders: &mut ColliderSet) {
// Ensure we already subscribed.
if self.removed_colliders.is_none() {
self.removed_colliders = Some(colliders.removed_colliders.subscribe());
}
let mut cursor = self.removed_colliders.take().unwrap();
for collider in colliders.removed_colliders.read(&cursor) {
self.remove_collider(collider.proxy_index);
}
colliders.removed_colliders.ack(&mut cursor);
self.removed_colliders = Some(cursor);
}
fn remove_collider<'a>(&mut self, proxy_index: usize) {
if proxy_index == crate::INVALID_USIZE {
// This collider has not been added to the broad-phase yet.
return;
}
let proxy = &mut self.proxies[proxy_index];
// Push the proxy to infinity, but not beyond the sentinels.
proxy.aabb.mins.coords.fill(SENTINEL_VALUE / 2.0);
proxy.aabb.maxs.coords.fill(SENTINEL_VALUE / 2.0);
// Discretize the AABB to find the regions that need to be invalidated.
let start = point_key(proxy.aabb.mins);
let end = point_key(proxy.aabb.maxs);
#[cfg(feature = "dim2")]
for i in start.x..=end.x {
for j in start.y..=end.y {
if let Some(region) = self.regions.get_mut(&Point::new(i, j)) {
region.predelete_proxy(proxy_index);
self.deleted_any = true;
}
}
}
let proxy = &mut self.proxies[collider.proxy_index];
// Push the proxy to infinity, but not beyond the sentinels.
proxy.aabb.mins.coords.fill(SENTINEL_VALUE / 2.0);
proxy.aabb.maxs.coords.fill(SENTINEL_VALUE / 2.0);
// Discretize the AABB to find the regions that need to be invalidated.
let start = point_key(proxy.aabb.mins);
let end = point_key(proxy.aabb.maxs);
#[cfg(feature = "dim2")]
for i in start.x..=end.x {
for j in start.y..=end.y {
if let Some(region) = self.regions.get_mut(&Point::new(i, j)) {
region.predelete_proxy(collider.proxy_index);
#[cfg(feature = "dim3")]
for i in start.x..=end.x {
for j in start.y..=end.y {
for k in start.z..=end.z {
if let Some(region) = self.regions.get_mut(&Point::new(i, j, k)) {
region.predelete_proxy(proxy_index);
self.deleted_any = true;
}
}
}
#[cfg(feature = "dim3")]
for i in start.x..=end.x {
for j in start.y..=end.y {
for k in start.z..=end.z {
if let Some(region) = self.regions.get_mut(&Point::new(i, j, k)) {
region.predelete_proxy(collider.proxy_index);
self.deleted_any = true;
}
}
}
}
self.proxies.remove(collider.proxy_index);
}
self.proxies.remove(proxy_index);
}
pub(crate) fn update_aabbs(
@@ -664,16 +716,13 @@ impl BroadPhase {
mod test {
use crate::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
use crate::pipeline::PhysicsPipeline;
#[test]
fn test_add_update_remove() {
let mut broad_phase = BroadPhase::new();
let mut narrow_phase = NarrowPhase::new();
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut pipeline = PhysicsPipeline::new();
let rb = RigidBodyBuilder::new_dynamic().build();
let co = ColliderBuilder::ball(0.5).build();
@@ -682,15 +731,8 @@ mod test {
broad_phase.update_aabbs(0.0, &bodies, &mut colliders);
pipeline.remove_rigid_body(
hrb,
&mut broad_phase,
&mut narrow_phase,
&mut bodies,
&mut colliders,
&mut joints,
);
bodies.remove(hrb, &mut colliders, &mut joints);
broad_phase.maintain(&mut colliders);
broad_phase.update_aabbs(0.0, &bodies, &mut colliders);
// Create another body.