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Merge pull request #88 from EmbarkStudios/refactor-params

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Small refactor of IntegrationParameters
This commit is contained in:
Sébastien Crozet
2021-01-22 15:53:08 +01:00
committed by GitHub
parent b61bec8348 315493ebfb
commit e6fc8f67fa
10 changed files with 51 additions and 47 deletions
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75
src/dynamics/integration_parameters.rs
View File

@@ -3,9 +3,8 @@
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct IntegrationParameters {
/// The timestep length (default: `1.0 / 60.0`)
dt: f32,
/// The inverse of `dt`.
inv_dt: f32,
pub dt: f32,
// /// If `true` and if rapier is compiled with the `parallel` feature, this will enable rayon-based multithreading (default: `true`).
// ///
// /// This parameter is ignored if rapier is not compiled with is `parallel` feature.
@@ -29,7 +28,7 @@ pub struct IntegrationParameters {
/// Contacts at points where the involved bodies have a relative
/// velocity smaller than this threshold wont be affected by the restitution force (default: `1.0`).
pub restitution_velocity_threshold: f32,
/// Amount of penetration the engine wont attempt to correct (default: `0.001m`).
/// Amount of penetration the engine wont attempt to correct (default: `0.005m`).
pub allowed_linear_error: f32,
/// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
pub prediction_distance: f32,
@@ -87,6 +86,7 @@ pub struct IntegrationParameters {
impl IntegrationParameters {
/// Creates a set of integration parameters with the given values.
#[deprecated = "Use `IntegrationParameters { dt: 60.0, ..Default::default() }` instead"]
pub fn new(
dt: f32,
// multithreading_enabled: bool,
@@ -110,7 +110,6 @@ impl IntegrationParameters {
) -> Self {
IntegrationParameters {
dt,
inv_dt: if dt == 0.0 { 0.0 } else { 1.0 / dt },
// multithreading_enabled,
erp,
joint_erp,
@@ -140,30 +139,29 @@ impl IntegrationParameters {
/// The current time-stepping length.
#[inline(always)]
#[deprecated = "You can just read the `IntegrationParams::dt` value directly"]
pub fn dt(&self) -> f32 {
self.dt
}
/// The inverse of the time-stepping length.
/// The inverse of the time-stepping length, i.e. the steps per seconds (Hz).
///
/// This is zero if `self.dt` is zero.
#[inline(always)]
pub fn inv_dt(&self) -> f32 {
self.inv_dt
if self.dt == 0.0 {
0.0
} else {
1.0 / self.dt
}
}
/// Sets the time-stepping length.
///
/// This automatically recompute `self.inv_dt`.
#[inline]
#[deprecated = "You can just set the `IntegrationParams::dt` value directly"]
pub fn set_dt(&mut self, dt: f32) {
assert!(dt >= 0.0, "The time-stepping length cannot be negative.");
self.dt = dt;
if dt == 0.0 {
self.inv_dt = 0.0
} else {
self.inv_dt = 1.0 / dt
}
}
/// Sets the inverse time-stepping length (i.e. the frequency).
@@ -171,7 +169,6 @@ impl IntegrationParameters {
/// This automatically recompute `self.dt`.
#[inline]
pub fn set_inv_dt(&mut self, inv_dt: f32) {
self.inv_dt = inv_dt;
if inv_dt == 0.0 {
self.dt = 0.0
} else {
@@ -182,26 +179,32 @@ impl IntegrationParameters {
impl Default for IntegrationParameters {
fn default() -> Self {
Self::new(
1.0 / 60.0,
// true,
0.2,
0.2,
1.0,
1.0,
0.005,
0.001,
0.2,
0.2,
0.002,
0.2,
4,
1,
10,
1,
false,
false,
false,
)
Self {
dt: 1.0 / 60.0,
// multithreading_enabled: true,
return_after_ccd_substep: false,
erp: 0.2,
joint_erp: 0.2,
warmstart_coeff: 1.0,
restitution_velocity_threshold: 1.0,
allowed_linear_error: 0.005,
prediction_distance: 0.002,
allowed_angular_error: 0.001,
max_linear_correction: 0.2,
max_angular_correction: 0.2,
max_stabilization_multiplier: 0.2,
max_velocity_iterations: 4,
max_position_iterations: 1,
// FIXME: what is the optimal value for min_island_size?
// It should not be too big so that we don't end up with
// huge islands that don't fit in cache.
// However we don't want it to be too small and end up with
// tons of islands, reducing SIMD parallelism opportunities.
min_island_size: 128,
max_ccd_position_iterations: 10,
max_ccd_substeps: 1,
multiple_ccd_substep_sensor_events_enabled: false,
ccd_on_penetration_enabled: false,
}
}
}

3
src/dynamics/solver/island_solver.rs
View File

@@ -59,8 +59,7 @@ impl IslandSolver {
}
counters.solver.velocity_update_time.resume();
bodies
.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt()));
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt));
counters.solver.velocity_update_time.pause();
if manifold_indices.len() != 0 || joint_indices.len() != 0 {

2
src/dynamics/solver/parallel_island_solver.rs
View File

@@ -234,7 +234,7 @@ impl ParallelIslandSolver {
let dvel = mj_lambdas[rb.active_set_offset];
rb.linvel += dvel.linear;
rb.angvel += rb.world_inv_inertia_sqrt.transform_vector(dvel.angular);
rb.integrate(params.dt());
rb.integrate(params.dt);
positions[rb.active_set_offset] = rb.position;
}
}

3
src/dynamics/solver/velocity_constraint.rs
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@@ -144,6 +144,7 @@ impl VelocityConstraint {
out_constraints: &mut Vec<AnyVelocityConstraint>,
push: bool,
) {
let inv_dt = params.inv_dt();
let rb1 = &bodies[manifold.body_pair.body1];
let rb2 = &bodies[manifold.body_pair.body2];
let mj_lambda1 = rb1.active_set_offset;
@@ -244,7 +245,7 @@ impl VelocityConstraint {
rhs += manifold.restitution * rhs
}
rhs += manifold_point.dist.max(0.0) * params.inv_dt();
rhs += manifold_point.dist.max(0.0) * inv_dt;
let impulse = manifold_points[k].impulse * warmstart_coeff;

3
src/dynamics/solver/velocity_ground_constraint.rs
View File

@@ -63,6 +63,7 @@ impl VelocityGroundConstraint {
out_constraints: &mut Vec<AnyVelocityConstraint>,
push: bool,
) {
let inv_dt = params.inv_dt();
let mut rb1 = &bodies[manifold.body_pair.body1];
let mut rb2 = &bodies[manifold.body_pair.body2];
let flipped = !rb2.is_dynamic();
@@ -176,7 +177,7 @@ impl VelocityGroundConstraint {
rhs += manifold.restitution * rhs
}
rhs += manifold_point.dist.max(0.0) * params.inv_dt();
rhs += manifold_point.dist.max(0.0) * inv_dt;
let impulse = manifold_points[k].impulse * warmstart_coeff;

4
src/pipeline/physics_pipeline.rs
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@@ -160,7 +160,7 @@ impl PhysicsPipeline {
self.counters.stages.update_time.start();
bodies.foreach_active_dynamic_body_mut_internal(|_, b| {
b.update_world_mass_properties();
b.integrate_accelerations(integration_parameters.dt(), *gravity)
b.integrate_accelerations(integration_parameters.dt, *gravity)
});
self.counters.stages.update_time.pause();
@@ -239,7 +239,7 @@ impl PhysicsPipeline {
rb.linvel = na::zero();
rb.angvel = na::zero();
} else {
rb.update_predicted_position(integration_parameters.dt());
rb.update_predicted_position(integration_parameters.dt);
}
rb.update_colliders_positions(colliders);