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Move all the contact manifold computations out of Rapier.

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This commit is contained in:
Crozet Sébastien
2020-12-17 10:24:36 +01:00
parent cc6d1b9730
commit e231bacec6
49 changed files with 103 additions and 2511 deletions
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56
src/geometry/narrow_phase.rs
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@@ -2,28 +2,26 @@
use rayon::prelude::*;
use crate::dynamics::RigidBodySet;
use crate::geometry::contact_generator::{
ContactDispatcher, ContactGenerationContext, DefaultContactDispatcher,
};
use crate::geometry::proximity_detector::{
DefaultProximityDispatcher, ProximityDetectionContext, ProximityDispatcher,
};
use eagl::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
//#[cfg(feature = "simd-is-enabled")]
//use crate::geometry::{
// contact_generator::ContactGenerationContextSimd,
// proximity_detector::ProximityDetectionContextSimd, WBall,
//};
use crate::geometry::{
BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactEvent, ContactPairFilter,
PairFilterContext, ProximityEvent, ProximityPair, ProximityPairFilter, RemovedCollider,
SolverFlags,
BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactEvent, ContactManifoldData,
ContactPairFilter, PairFilterContext, ProximityEvent, ProximityPair, ProximityPairFilter,
RemovedCollider, SolverFlags,
};
use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
//#[cfg(feature = "simd-is-enabled")]
//use crate::math::{SimdReal, SIMD_WIDTH};
use crate::buckler::query::Proximity;
use crate::data::pubsub::Subscription;
use crate::data::Coarena;
use crate::eagl::query::Proximity;
use crate::pipeline::EventHandler;
use std::collections::HashMap;
//use simba::simd::SimdValue;
@@ -324,10 +322,7 @@ impl NarrowPhase {
.find_edge(gid1.contact_graph_index, gid2.contact_graph_index)
.is_none()
{
let dispatcher = DefaultContactDispatcher;
let generator = dispatcher
.dispatch(co1.shape().shape_type(), co2.shape().shape_type());
let interaction = ContactPair::new(*pair, generator.0, generator.1);
let interaction = ContactPair::new(*pair);
let _ = self.contact_graph.add_edge(
gid1.contact_graph_index,
gid2.contact_graph_index,
@@ -523,33 +518,22 @@ impl NarrowPhase {
solver_flags.remove(SolverFlags::COMPUTE_IMPULSES);
}
let dispatcher = DefaultContactDispatcher;
if pair.generator.is_none() {
// We need a redispatch for this generator.
// This can happen, e.g., after restoring a snapshot of the narrow-phase.
let (generator, workspace) =
dispatcher.dispatch(co1.shape().shape_type(), co2.shape().shape_type());
pair.generator = Some(generator);
// Keep the workspace if one already exists.
if pair.generator_workspace.is_none() {
pair.generator_workspace = workspace;
}
}
let context = ContactGenerationContext {
dispatcher: &dispatcher,
let dispatcher = DefaultQueryDispatcher;
let pos12 = co1.position().inverse() * co2.position();
dispatcher.contact_manifolds(
&pos12,
co1.shape(),
co2.shape(),
prediction_distance,
colliders,
pair,
solver_flags,
};
&mut pair.manifolds,
&mut pair.workspace,
);
context
.pair
.generator
.unwrap()
.generate_contacts(context, events);
// TODO: don't write this everytime?
for manifold in &mut pair.manifolds {
manifold.data =
ContactManifoldData::from_colliders(pair.pair, co1, co2, solver_flags);
}
});
}