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Merge pull request #44 from dimforge/custom_callbacks_filtering

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Added user-implementable traits for collision/proximity pair filtering.
This commit is contained in:
Sébastien Crozet
2020-10-27 17:36:45 +01:00
committed by GitHub
parent a52fb8d7e4 74f0297221
commit e279c7050c
7 changed files with 160 additions and 19 deletions
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2
src/geometry/contact.rs
View File

@@ -15,7 +15,7 @@ bitflags::bitflags! {
pub struct SolverFlags: u32 {
/// The constraint solver will take this contact manifold into
/// account for force computation.
const COMPUTE_FORCES = 0b01;
const COMPUTE_IMPULSES = 0b01;
}
}

2
src/geometry/mod.rs
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@@ -22,6 +22,7 @@ pub use self::proximity_detector::{DefaultProximityDispatcher, ProximityDispatch
#[cfg(feature = "dim3")]
pub use self::round_cylinder::RoundCylinder;
pub use self::trimesh::Trimesh;
pub use self::user_callbacks::{ContactPairFilter, PairFilterContext, ProximityPairFilter};
pub use ncollide::query::Proximity;
/// A segment shape.
@@ -104,3 +105,4 @@ mod polygonal_feature_map;
#[cfg(feature = "dim3")]
mod round_cylinder;
mod shape;
mod user_callbacks;

78
src/geometry/narrow_phase.rs
View File

@@ -14,8 +14,9 @@ use crate::geometry::proximity_detector::{
// proximity_detector::ProximityDetectionContextSimd, WBall,
//};
use crate::geometry::{
BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactEvent, ProximityEvent,
ProximityPair, RemovedCollider, SolverFlags,
BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactEvent, ContactPairFilter,
PairFilterContext, ProximityEvent, ProximityPair, ProximityPairFilter, RemovedCollider,
SolverFlags,
};
use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
//#[cfg(feature = "simd-is-enabled")]
@@ -290,6 +291,7 @@ impl NarrowPhase {
prediction_distance: f32,
bodies: &RigidBodySet,
colliders: &ColliderSet,
pair_filter: Option<&dyn ProximityPairFilter>,
events: &dyn EventHandler,
) {
par_iter_mut!(&mut self.proximity_graph.graph.edges).for_each(|edge| {
@@ -301,16 +303,38 @@ impl NarrowPhase {
let rb1 = &bodies[co1.parent];
let rb2 = &bodies[co2.parent];
if (rb1.is_sleeping() || rb1.is_static()) && (rb2.is_sleeping() || rb2.is_static()) {
// No need to update this contact because nothing moved.
if (rb1.is_sleeping() && rb2.is_static())
|| (rb2.is_sleeping() && rb1.is_static())
|| (rb1.is_sleeping() && rb2.is_sleeping())
{
// No need to update this proximity because nothing moved.
return;
}
if !co1.collision_groups.test(co2.collision_groups) {
// The collision is not allowed.
// The proximity is not allowed.
return;
}
if pair_filter.is_none() && !rb1.is_dynamic() && !rb2.is_dynamic() {
// Default filtering rule: no proximity between two non-dynamic bodies.
return;
}
if let Some(filter) = pair_filter {
let context = PairFilterContext {
rigid_body1: rb1,
rigid_body2: rb2,
collider1: co1,
collider2: co2,
};
if !filter.filter_proximity_pair(&context) {
// No proximity allowed.
return;
}
}
let dispatcher = DefaultProximityDispatcher;
if pair.detector.is_none() {
// We need a redispatch for this detector.
@@ -341,6 +365,7 @@ impl NarrowPhase {
prediction_distance: f32,
bodies: &RigidBodySet,
colliders: &ColliderSet,
pair_filter: Option<&dyn ContactPairFilter>,
events: &dyn EventHandler,
) {
par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
@@ -352,8 +377,9 @@ impl NarrowPhase {
let rb1 = &bodies[co1.parent];
let rb2 = &bodies[co2.parent];
if ((rb1.is_sleeping() || rb1.is_static()) && (rb2.is_sleeping() || rb2.is_static()))
|| (!rb1.is_dynamic() && !rb2.is_dynamic())
if (rb1.is_sleeping() && rb2.is_static())
|| (rb2.is_sleeping() && rb1.is_static())
|| (rb1.is_sleeping() && rb2.is_sleeping())
{
// No need to update this contact because nothing moved.
return;
@@ -364,6 +390,33 @@ impl NarrowPhase {
return;
}
if pair_filter.is_none() && !rb1.is_dynamic() && !rb2.is_dynamic() {
// Default filtering rule: no contact between two non-dynamic bodies.
return;
}
let mut solver_flags = if let Some(filter) = pair_filter {
let context = PairFilterContext {
rigid_body1: rb1,
rigid_body2: rb2,
collider1: co1,
collider2: co2,
};
if let Some(solver_flags) = filter.filter_contact_pair(&context) {
solver_flags
} else {
// No contact allowed.
return;
}
} else {
SolverFlags::COMPUTE_IMPULSES
};
if !co1.solver_groups.test(co2.solver_groups) {
solver_flags.remove(SolverFlags::COMPUTE_IMPULSES);
}
let dispatcher = DefaultContactDispatcher;
if pair.generator.is_none() {
// We need a redispatch for this generator.
@@ -374,12 +427,6 @@ impl NarrowPhase {
pair.generator_workspace = workspace;
}
let solver_flags = if co1.solver_groups.test(co2.solver_groups) {
SolverFlags::COMPUTE_FORCES
} else {
SolverFlags::empty()
};
let context = ContactGenerationContext {
dispatcher: &dispatcher,
prediction_distance,
@@ -413,8 +460,11 @@ impl NarrowPhase {
for manifold in &mut inter.weight.manifolds {
let rb1 = &bodies[manifold.body_pair.body1];
let rb2 = &bodies[manifold.body_pair.body2];
if manifold.solver_flags.contains(SolverFlags::COMPUTE_FORCES)
if manifold
.solver_flags
.contains(SolverFlags::COMPUTE_IMPULSES)
&& manifold.num_active_contacts() != 0
&& (rb1.is_dynamic() || rb2.is_dynamic())
&& (!rb1.is_dynamic() || !rb1.is_sleeping())
&& (!rb2.is_dynamic() || !rb2.is_sleeping())
{

57
src/geometry/user_callbacks.rs Normal file
View File

@@ -0,0 +1,57 @@
use crate::dynamics::RigidBody;
use crate::geometry::{Collider, SolverFlags};
/// Context given to custom collision filters to filter-out collisions.
pub struct PairFilterContext<'a> {
/// The first collider involved in the potential collision.
pub rigid_body1: &'a RigidBody,
/// The first collider involved in the potential collision.
pub rigid_body2: &'a RigidBody,
/// The first collider involved in the potential collision.
pub collider1: &'a Collider,
/// The first collider involved in the potential collision.
pub collider2: &'a Collider,
}
/// User-defined filter for potential contact pairs detected by the broad-phase.
///
/// This can be used to apply custom logic in order to decide whether two colliders
/// should have their contact computed by the narrow-phase, and if these contact
/// should be solved by the constraints solver
pub trait ContactPairFilter: Send + Sync {
/// Applies the contact pair filter.
///
/// Note that using a contact pair filter will replace the default contact filtering
/// which consists of preventing contact computation between two non-dynamic bodies.
///
/// This filtering method is called after taking into account the colliders collision groups.
///
/// If this returns `None`, then the narrow-phase will ignore this contact pair and
/// not compute any contact manifolds for it.
/// If this returns `Some`, then the narrow-phase will compute contact manifolds for
/// this pair of colliders, and configure them with the returned solver flags. For
/// example, if this returns `Some(SolverFlags::COMPUTE_IMPULSES)` then the contacts
/// will be taken into account by the constraints solver. If this returns
/// `Some(SolverFlags::empty())` then the constraints solver will ignore these
/// contacts.
fn filter_contact_pair(&self, context: &PairFilterContext) -> Option<SolverFlags>;
}
/// User-defined filter for potential proximity pairs detected by the broad-phase.
///
/// This can be used to apply custom logic in order to decide whether two colliders
/// should have their proximity computed by the narrow-phase.
pub trait ProximityPairFilter: Send + Sync {
/// Applies the proximity pair filter.
///
/// Note that using a proximity pair filter will replace the default proximity filtering
/// which consists of preventing proximity computation between two non-dynamic bodies.
///
/// This filtering method is called after taking into account the colliders collision groups.
///
/// If this returns `false`, then the narrow-phase will ignore this pair and
/// not compute any proximity information for it.
/// If this return `true` then the narrow-phase will compute proximity
/// information for this pair.
fn filter_proximity_pair(&self, context: &PairFilterContext) -> bool;
}

23
src/pipeline/collision_pipeline.rs
View File

@@ -1,7 +1,10 @@
//! Physics pipeline structures.
use crate::dynamics::{JointSet, RigidBodySet};
use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactPairFilter, NarrowPhase,
ProximityPairFilter,
};
use crate::pipeline::EventHandler;
/// The collision pipeline, responsible for performing collision detection between colliders.
@@ -40,6 +43,8 @@ impl CollisionPipeline {
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
contact_pair_filter: Option<&dyn ContactPairFilter>,
proximity_pair_filter: Option<&dyn ProximityPairFilter>,
events: &dyn EventHandler,
) {
bodies.maintain_active_set();
@@ -52,8 +57,20 @@ impl CollisionPipeline {
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(prediction_distance, bodies, colliders, events);
narrow_phase.compute_proximities(prediction_distance, bodies, colliders, events);
narrow_phase.compute_contacts(
prediction_distance,
bodies,
colliders,
contact_pair_filter,
events,
);
narrow_phase.compute_proximities(
prediction_distance,
bodies,
colliders,
proximity_pair_filter,
events,
);
bodies.update_active_set_with_contacts(
colliders,

11
src/pipeline/physics_pipeline.rs
View File

@@ -7,7 +7,8 @@ use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase,
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex,
ContactPairFilter, NarrowPhase, ProximityPairFilter,
};
use crate::math::Vector;
use crate::pipeline::EventHandler;
@@ -68,6 +69,8 @@ impl PhysicsPipeline {
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
contact_pair_filter: Option<&dyn ContactPairFilter>,
proximity_pair_filter: Option<&dyn ProximityPairFilter>,
events: &dyn EventHandler,
) {
self.counters.step_started();
@@ -112,12 +115,14 @@ impl PhysicsPipeline {
integration_parameters.prediction_distance,
bodies,
colliders,
contact_pair_filter,
events,
);
narrow_phase.compute_proximities(
integration_parameters.prediction_distance,
bodies,
colliders,
proximity_pair_filter,
events,
);
// println!("Compute contact time: {}", instant::now() - t);
@@ -285,6 +290,8 @@ mod test {
&mut bodies,
&mut colliders,
&mut joints,
None,
None,
&(),
);
}
@@ -327,6 +334,8 @@ mod test {
&mut bodies,
&mut colliders,
&mut joints,
None,
None,
&(),
);
}

6
src_testbed/testbed.rs
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@@ -681,6 +681,8 @@ impl Testbed {
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
None,
None,
&self.event_handler,
);
@@ -1457,6 +1459,8 @@ impl State for Testbed {
&mut physics.bodies,
&mut physics.colliders,
&mut physics.joints,
None,
None,
event_handler,
);
});
@@ -1471,6 +1475,8 @@ impl State for Testbed {
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
None,
None,
&self.event_handler,
);