899 lines
32 KiB
Rust
899 lines
32 KiB
Rust
//! Physics pipeline structures.
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use crate::counters::Counters;
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use crate::data::{BundleSet, ComponentSet, ComponentSetMut, ComponentSetOption};
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#[cfg(not(feature = "parallel"))]
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use crate::dynamics::IslandSolver;
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use crate::dynamics::{
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CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
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RigidBodyActivation, RigidBodyCcd, RigidBodyChanges, RigidBodyColliders, RigidBodyDamping,
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RigidBodyDominance, RigidBodyForces, RigidBodyHandle, RigidBodyIds, RigidBodyMassProps,
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RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
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};
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#[cfg(feature = "parallel")]
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use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
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use crate::geometry::{
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BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
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ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition,
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ColliderShape, ColliderType, ContactManifoldIndex, NarrowPhase,
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};
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use crate::math::{Real, Vector};
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use crate::pipeline::{EventHandler, PhysicsHooks};
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#[cfg(feature = "default-sets")]
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use {crate::dynamics::RigidBodySet, crate::geometry::ColliderSet};
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/// The physics pipeline, responsible for stepping the whole physics simulation.
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///
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/// This structure only contains temporary data buffers. It can be dropped and replaced by a fresh
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/// copy at any time. For performance reasons it is recommended to reuse the same physics pipeline
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/// instance to benefit from the cached data.
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///
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/// Rapier relies on a time-stepping scheme. Its force computations
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/// uses two solvers:
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/// - A velocity based solver based on PGS which computes forces for contact and joint constraints.
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/// - A position based solver based on non-linear PGS which performs constraint stabilization (i.e. correction of errors like penetrations).
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// NOTE: this contains only workspace data, so there is no point in making this serializable.
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pub struct PhysicsPipeline {
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/// Counters used for benchmarking only.
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pub counters: Counters,
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manifold_indices: Vec<Vec<ContactManifoldIndex>>,
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joint_constraint_indices: Vec<Vec<ContactManifoldIndex>>,
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broadphase_collider_pairs: Vec<ColliderPair>,
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broad_phase_events: Vec<BroadPhasePairEvent>,
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solvers: Vec<IslandSolver>,
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}
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impl Default for PhysicsPipeline {
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fn default() -> Self {
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PhysicsPipeline::new()
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}
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}
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#[allow(dead_code)]
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fn check_pipeline_send_sync() {
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fn do_test<T: Sync>() {}
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do_test::<PhysicsPipeline>();
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}
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impl PhysicsPipeline {
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/// Initializes a new physics pipeline.
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pub fn new() -> PhysicsPipeline {
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PhysicsPipeline {
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counters: Counters::new(false),
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solvers: Vec::new(),
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manifold_indices: Vec::new(),
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joint_constraint_indices: Vec::new(),
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broadphase_collider_pairs: Vec::new(),
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broad_phase_events: Vec::new(),
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}
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}
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fn clear_modified_colliders(
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&mut self,
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colliders: &mut impl ComponentSetMut<ColliderChanges>,
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modified_colliders: &mut Vec<ColliderHandle>,
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) {
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for handle in modified_colliders.drain(..) {
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colliders.set_internal(handle.0, ColliderChanges::empty())
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}
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}
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fn detect_collisions<Bodies, Colliders>(
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&mut self,
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integration_parameters: &IntegrationParameters,
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islands: &mut IslandManager,
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broad_phase: &mut BroadPhase,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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modified_colliders: &[ColliderHandle],
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removed_colliders: &[ColliderHandle],
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hooks: &dyn PhysicsHooks<Bodies, Colliders>,
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events: &dyn EventHandler,
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handle_user_changes: bool,
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) where
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Bodies: ComponentSetMut<RigidBodyActivation>
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+ ComponentSet<RigidBodyType>
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+ ComponentSetMut<RigidBodyIds>
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+ ComponentSet<RigidBodyDominance>,
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Colliders: ComponentSetMut<ColliderBroadPhaseData>
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+ ComponentSet<ColliderChanges>
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+ ComponentSet<ColliderPosition>
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+ ComponentSet<ColliderShape>
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+ ComponentSetOption<ColliderParent>
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+ ComponentSet<ColliderType>
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+ ComponentSet<ColliderMaterial>
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+ ComponentSet<ColliderFlags>,
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{
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self.counters.stages.collision_detection_time.resume();
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self.counters.cd.broad_phase_time.resume();
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// Update broad-phase.
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self.broad_phase_events.clear();
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self.broadphase_collider_pairs.clear();
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broad_phase.update(
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integration_parameters.prediction_distance,
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colliders,
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modified_colliders,
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removed_colliders,
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&mut self.broad_phase_events,
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);
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self.counters.cd.broad_phase_time.pause();
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self.counters.cd.narrow_phase_time.resume();
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// Update narrow-phase.
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if handle_user_changes {
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narrow_phase.handle_user_changes(
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Some(islands),
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modified_colliders,
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removed_colliders,
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colliders,
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bodies,
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events,
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);
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}
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narrow_phase.register_pairs(
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Some(islands),
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colliders,
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bodies,
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&self.broad_phase_events,
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events,
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);
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narrow_phase.compute_contacts(
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integration_parameters.prediction_distance,
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bodies,
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colliders,
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modified_colliders,
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hooks,
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events,
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);
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narrow_phase.compute_intersections(bodies, colliders, modified_colliders, hooks, events);
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self.counters.cd.narrow_phase_time.pause();
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self.counters.stages.collision_detection_time.pause();
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}
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fn build_islands_and_solve_velocity_constraints<Bodies, Colliders>(
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&mut self,
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gravity: &Vector<Real>,
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integration_parameters: &IntegrationParameters,
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islands: &mut IslandManager,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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) where
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Bodies: ComponentSetMut<RigidBodyPosition>
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+ ComponentSetMut<RigidBodyVelocity>
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+ ComponentSetMut<RigidBodyMassProps>
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+ ComponentSetMut<RigidBodyForces>
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+ ComponentSetMut<RigidBodyIds>
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+ ComponentSetMut<RigidBodyActivation>
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+ ComponentSet<RigidBodyDamping>
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+ ComponentSet<RigidBodyColliders>
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+ ComponentSet<RigidBodyType>,
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Colliders: ComponentSetOption<ColliderParent>,
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{
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self.counters.stages.island_construction_time.resume();
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islands.update_active_set_with_contacts(
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bodies,
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colliders,
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narrow_phase,
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impulse_joints,
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multibody_joints,
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integration_parameters.min_island_size,
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);
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self.counters.stages.island_construction_time.pause();
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if self.manifold_indices.len() < islands.num_islands() {
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self.manifold_indices
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.resize(islands.num_islands(), Vec::new());
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}
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if self.joint_constraint_indices.len() < islands.num_islands() {
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self.joint_constraint_indices
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.resize(islands.num_islands(), Vec::new());
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}
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let mut manifolds = Vec::new();
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narrow_phase.select_active_contacts(
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islands,
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bodies,
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&mut manifolds,
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&mut self.manifold_indices,
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);
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impulse_joints.select_active_interactions(
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islands,
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bodies,
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&mut self.joint_constraint_indices,
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);
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self.counters.stages.update_time.resume();
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for handle in islands.active_dynamic_bodies() {
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let poss: &RigidBodyPosition = bodies.index(handle.0);
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let position = poss.position;
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let effective_inv_mass = bodies
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.map_mut_internal(handle.0, |mprops: &mut RigidBodyMassProps| {
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mprops.update_world_mass_properties(&position);
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mprops.effective_mass()
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})
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.unwrap();
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bodies.map_mut_internal(handle.0, |forces: &mut RigidBodyForces| {
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forces.add_gravity_acceleration(&gravity, effective_inv_mass)
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});
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}
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for multibody in &mut multibody_joints.multibodies {
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multibody
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.1
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.update_dynamics(integration_parameters.dt, bodies);
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multibody.1.update_acceleration(bodies);
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}
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self.counters.stages.update_time.pause();
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self.counters.stages.solver_time.resume();
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if self.solvers.len() < islands.num_islands() {
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self.solvers
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.resize_with(islands.num_islands(), IslandSolver::new);
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}
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#[cfg(not(feature = "parallel"))]
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{
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enable_flush_to_zero!();
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for island_id in 0..islands.num_islands() {
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self.solvers[island_id].init_and_solve(
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island_id,
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&mut self.counters,
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integration_parameters,
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islands,
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bodies,
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&mut manifolds[..],
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&self.manifold_indices[island_id],
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impulse_joints.joints_mut(),
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&self.joint_constraint_indices[island_id],
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multibody_joints,
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)
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}
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}
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#[cfg(feature = "parallel")]
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{
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use crate::geometry::ContactManifold;
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use rayon::prelude::*;
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use std::sync::atomic::Ordering;
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let num_islands = islands.num_islands();
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let solvers = &mut self.solvers[..num_islands];
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let bodies = &std::sync::atomic::AtomicPtr::new(bodies as *mut _);
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let manifolds = &std::sync::atomic::AtomicPtr::new(&mut manifolds as *mut _);
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let impulse_joints =
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&std::sync::atomic::AtomicPtr::new(impulse_joints.joints_vec_mut() as *mut _);
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let multibody_joints = &std::sync::atomic::AtomicPtr::new(multibody_joints as *mut _);
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let manifold_indices = &self.manifold_indices[..];
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let joint_constraint_indices = &self.joint_constraint_indices[..];
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rayon::scope(|scope| {
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enable_flush_to_zero!();
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solvers
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.par_iter_mut()
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.enumerate()
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.for_each(|(island_id, solver)| {
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let bodies: &mut Bodies =
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unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) };
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let manifolds: &mut Vec<&mut ContactManifold> =
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unsafe { std::mem::transmute(manifolds.load(Ordering::Relaxed)) };
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let impulse_joints: &mut Vec<JointGraphEdge> =
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unsafe { std::mem::transmute(impulse_joints.load(Ordering::Relaxed)) };
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let multibody_joints: &mut MultibodyJointSet = unsafe {
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std::mem::transmute(multibody_joints.load(Ordering::Relaxed))
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};
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solver.init_and_solve(
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scope,
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island_id,
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islands,
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integration_parameters,
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bodies,
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manifolds,
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&manifold_indices[island_id],
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impulse_joints,
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&joint_constraint_indices[island_id],
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multibody_joints,
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)
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});
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});
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}
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self.counters.stages.solver_time.pause();
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}
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fn run_ccd_motion_clamping<Bodies, Colliders>(
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&mut self,
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integration_parameters: &IntegrationParameters,
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islands: &IslandManager,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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narrow_phase: &NarrowPhase,
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ccd_solver: &mut CCDSolver,
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events: &dyn EventHandler,
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) where
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Bodies: ComponentSetMut<RigidBodyPosition>
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+ ComponentSet<RigidBodyVelocity>
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+ ComponentSet<RigidBodyCcd>
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+ ComponentSet<RigidBodyColliders>
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+ ComponentSet<RigidBodyForces>
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+ ComponentSet<RigidBodyMassProps>,
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Colliders: ComponentSetOption<ColliderParent>
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+ ComponentSet<ColliderPosition>
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+ ComponentSet<ColliderShape>
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+ ComponentSet<ColliderType>
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+ ComponentSet<ColliderFlags>,
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{
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self.counters.ccd.toi_computation_time.start();
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// Handle CCD
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let impacts = ccd_solver.predict_impacts_at_next_positions(
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integration_parameters.dt,
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islands,
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bodies,
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colliders,
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narrow_phase,
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events,
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);
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ccd_solver.clamp_motions(integration_parameters.dt, bodies, &impacts);
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self.counters.ccd.toi_computation_time.pause();
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}
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fn advance_to_final_positions<Bodies, Colliders>(
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&mut self,
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islands: &IslandManager,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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modified_colliders: &mut Vec<ColliderHandle>,
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clear_forces: bool,
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) where
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Bodies: ComponentSetMut<RigidBodyVelocity>
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+ ComponentSetMut<RigidBodyForces>
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+ ComponentSetMut<RigidBodyPosition>
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+ ComponentSet<RigidBodyType>
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+ ComponentSet<RigidBodyColliders>,
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Colliders: ComponentSetMut<ColliderPosition>
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+ ComponentSetMut<ColliderChanges>
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+ ComponentSetOption<ColliderParent>,
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{
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// Set the rigid-bodies and kinematic bodies to their final position.
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for handle in islands.iter_active_bodies() {
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let status: &RigidBodyType = bodies.index(handle.0);
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if status.is_kinematic() {
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bodies.set_internal(handle.0, RigidBodyVelocity::zero());
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}
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if clear_forces {
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bodies.map_mut_internal(handle.0, |f: &mut RigidBodyForces| {
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f.torque = na::zero();
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f.force = na::zero();
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});
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}
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bodies.map_mut_internal(handle.0, |poss: &mut RigidBodyPosition| {
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poss.position = poss.next_position
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});
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let (rb_poss, rb_colls): (&RigidBodyPosition, &RigidBodyColliders) =
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bodies.index_bundle(handle.0);
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rb_colls.update_positions(colliders, modified_colliders, &rb_poss.position);
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}
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}
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fn interpolate_kinematic_velocities<Bodies>(
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&mut self,
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integration_parameters: &IntegrationParameters,
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islands: &IslandManager,
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bodies: &mut Bodies,
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) where
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Bodies: ComponentSetMut<RigidBodyVelocity>
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+ ComponentSetMut<RigidBodyPosition>
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+ ComponentSet<RigidBodyType>
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+ ComponentSet<RigidBodyMassProps>,
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{
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// Update kinematic bodies velocities.
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// TODO: what is the best place for this? It should at least be
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// located before the island computation because we test the velocity
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// there to determine if this kinematic body should wake-up dynamic
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// bodies it is touching.
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for handle in islands.active_kinematic_bodies() {
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let (rb_type, rb_pos, rb_vel, rb_mprops): (
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&RigidBodyType,
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&RigidBodyPosition,
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&RigidBodyVelocity,
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&RigidBodyMassProps,
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) = bodies.index_bundle(handle.0);
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match rb_type {
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RigidBodyType::KinematicPositionBased => {
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let rb_pos: &RigidBodyPosition = bodies.index(handle.0);
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let new_vel = rb_pos.interpolate_velocity(
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integration_parameters.inv_dt(),
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&rb_mprops.local_mprops.local_com,
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);
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bodies.set_internal(handle.0, new_vel);
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}
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RigidBodyType::KinematicVelocityBased => {
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let new_pos = rb_vel.integrate(
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integration_parameters.dt,
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&rb_pos.position,
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&rb_mprops.local_mprops.local_com,
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);
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bodies.set_internal(handle.0, RigidBodyPosition::from(new_pos));
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}
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_ => {}
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}
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}
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}
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|
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/// Executes one timestep of the physics simulation.
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///
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/// This is the same as `self.step_generic`, except that it is specialized
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/// to work with `RigidBodySet` and `ColliderSet`.
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#[cfg(feature = "default-sets")]
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pub fn step(
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&mut self,
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gravity: &Vector<Real>,
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integration_parameters: &IntegrationParameters,
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islands: &mut IslandManager,
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broad_phase: &mut BroadPhase,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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ccd_solver: &mut CCDSolver,
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hooks: &dyn PhysicsHooks<RigidBodySet, ColliderSet>,
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events: &dyn EventHandler,
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) {
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let mut modified_bodies = bodies.take_modified();
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let mut modified_colliders = colliders.take_modified();
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let mut removed_colliders = colliders.take_removed();
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self.step_generic(
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gravity,
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integration_parameters,
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islands,
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broad_phase,
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narrow_phase,
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bodies,
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colliders,
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&mut modified_bodies,
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&mut modified_colliders,
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&mut removed_colliders,
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impulse_joints,
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multibody_joints,
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ccd_solver,
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hooks,
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events,
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);
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}
|
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|
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/// Executes one timestep of the physics simulation.
|
|
pub fn step_generic<Bodies, Colliders>(
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&mut self,
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gravity: &Vector<Real>,
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integration_parameters: &IntegrationParameters,
|
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islands: &mut IslandManager,
|
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broad_phase: &mut BroadPhase,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut Bodies,
|
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colliders: &mut Colliders,
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modified_bodies: &mut Vec<RigidBodyHandle>,
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modified_colliders: &mut Vec<ColliderHandle>,
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removed_colliders: &mut Vec<ColliderHandle>,
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impulse_joints: &mut ImpulseJointSet,
|
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multibody_joints: &mut MultibodyJointSet,
|
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ccd_solver: &mut CCDSolver,
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hooks: &dyn PhysicsHooks<Bodies, Colliders>,
|
|
events: &dyn EventHandler,
|
|
) where
|
|
Bodies: ComponentSetMut<RigidBodyPosition>
|
|
+ ComponentSetMut<RigidBodyVelocity>
|
|
+ ComponentSetMut<RigidBodyMassProps>
|
|
+ ComponentSetMut<RigidBodyIds>
|
|
+ ComponentSetMut<RigidBodyForces>
|
|
+ ComponentSetMut<RigidBodyActivation>
|
|
+ ComponentSetMut<RigidBodyChanges>
|
|
+ ComponentSetMut<RigidBodyCcd>
|
|
+ ComponentSet<RigidBodyColliders>
|
|
+ ComponentSet<RigidBodyDamping>
|
|
+ ComponentSet<RigidBodyDominance>
|
|
+ ComponentSet<RigidBodyType>,
|
|
Colliders: ComponentSetMut<ColliderBroadPhaseData>
|
|
+ ComponentSetMut<ColliderChanges>
|
|
+ ComponentSetMut<ColliderPosition>
|
|
+ ComponentSet<ColliderShape>
|
|
+ ComponentSetOption<ColliderParent>
|
|
+ ComponentSet<ColliderType>
|
|
+ ComponentSet<ColliderMaterial>
|
|
+ ComponentSet<ColliderFlags>,
|
|
{
|
|
self.counters.reset();
|
|
self.counters.step_started();
|
|
|
|
super::user_changes::handle_user_changes_to_colliders(
|
|
bodies,
|
|
colliders,
|
|
&modified_colliders[..],
|
|
);
|
|
super::user_changes::handle_user_changes_to_rigid_bodies(
|
|
Some(islands),
|
|
bodies,
|
|
colliders,
|
|
&modified_bodies,
|
|
modified_colliders,
|
|
);
|
|
|
|
// TODO: do this only on user-change.
|
|
// TODO: do we want some kind of automatic inverse kinematics?
|
|
for multibody in &mut multibody_joints.multibodies {
|
|
multibody.1.update_root_type(bodies);
|
|
// FIXME: what should we do here? We should not
|
|
// rely on the next state here.
|
|
multibody.1.forward_kinematics(bodies, true);
|
|
}
|
|
|
|
self.detect_collisions(
|
|
integration_parameters,
|
|
islands,
|
|
broad_phase,
|
|
narrow_phase,
|
|
bodies,
|
|
colliders,
|
|
&modified_colliders[..],
|
|
removed_colliders,
|
|
hooks,
|
|
events,
|
|
true,
|
|
);
|
|
|
|
self.clear_modified_colliders(colliders, modified_colliders);
|
|
removed_colliders.clear();
|
|
|
|
let mut remaining_time = integration_parameters.dt;
|
|
let mut integration_parameters = *integration_parameters;
|
|
|
|
let (ccd_is_enabled, mut remaining_substeps) =
|
|
if integration_parameters.max_ccd_substeps == 0 {
|
|
(false, 1)
|
|
} else {
|
|
(true, integration_parameters.max_ccd_substeps)
|
|
};
|
|
|
|
while remaining_substeps > 0 {
|
|
// If there are more than one CCD substep, we need to split
|
|
// the timestep into multiple intervals. First, estimate the
|
|
// size of the time slice we will integrate for this substep.
|
|
//
|
|
// Note that we must do this now, before the constrains resolution
|
|
// because we need to use the correct timestep length for the
|
|
// integration of external forces.
|
|
//
|
|
// If there is only one or zero CCD substep, there is no need
|
|
// to split the timetsep interval. So we can just skip this part.
|
|
if ccd_is_enabled && remaining_substeps > 1 {
|
|
// NOTE: Take forces into account when updating the bodies CCD activation flags
|
|
// these forces have not been integrated to the body's velocity yet.
|
|
let ccd_active =
|
|
ccd_solver.update_ccd_active_flags(islands, bodies, remaining_time, true);
|
|
let first_impact = if ccd_active {
|
|
ccd_solver.find_first_impact(
|
|
remaining_time,
|
|
islands,
|
|
bodies,
|
|
colliders,
|
|
narrow_phase,
|
|
)
|
|
} else {
|
|
None
|
|
};
|
|
|
|
if let Some(toi) = first_impact {
|
|
let original_interval = remaining_time / (remaining_substeps as Real);
|
|
|
|
if toi < original_interval {
|
|
integration_parameters.dt = original_interval;
|
|
} else {
|
|
integration_parameters.dt =
|
|
toi + (remaining_time - toi) / (remaining_substeps as Real);
|
|
}
|
|
|
|
remaining_substeps -= 1;
|
|
} else {
|
|
// No impact, don't do any other substep after this one.
|
|
integration_parameters.dt = remaining_time;
|
|
remaining_substeps = 0;
|
|
}
|
|
|
|
remaining_time -= integration_parameters.dt;
|
|
|
|
// Avoid substep length that are too small.
|
|
if remaining_time <= integration_parameters.min_ccd_dt {
|
|
integration_parameters.dt += remaining_time;
|
|
remaining_substeps = 0;
|
|
}
|
|
} else {
|
|
integration_parameters.dt = remaining_time;
|
|
remaining_time = 0.0;
|
|
remaining_substeps = 0;
|
|
}
|
|
|
|
self.counters.ccd.num_substeps += 1;
|
|
|
|
self.interpolate_kinematic_velocities(&integration_parameters, islands, bodies);
|
|
self.build_islands_and_solve_velocity_constraints(
|
|
gravity,
|
|
&integration_parameters,
|
|
islands,
|
|
narrow_phase,
|
|
bodies,
|
|
colliders,
|
|
impulse_joints,
|
|
multibody_joints,
|
|
);
|
|
|
|
// If CCD is enabled, execute the CCD motion clamping.
|
|
if ccd_is_enabled {
|
|
// NOTE: don't the forces into account when updating the CCD active flags because
|
|
// they have already been integrated into the velocities by the solver.
|
|
let ccd_active = ccd_solver.update_ccd_active_flags(
|
|
islands,
|
|
bodies,
|
|
integration_parameters.dt,
|
|
false,
|
|
);
|
|
if ccd_active {
|
|
self.run_ccd_motion_clamping(
|
|
&integration_parameters,
|
|
islands,
|
|
bodies,
|
|
colliders,
|
|
narrow_phase,
|
|
ccd_solver,
|
|
events,
|
|
);
|
|
}
|
|
}
|
|
|
|
let clear_forces = remaining_substeps == 0;
|
|
self.advance_to_final_positions(
|
|
islands,
|
|
bodies,
|
|
colliders,
|
|
modified_colliders,
|
|
clear_forces,
|
|
);
|
|
|
|
self.detect_collisions(
|
|
&integration_parameters,
|
|
islands,
|
|
broad_phase,
|
|
narrow_phase,
|
|
bodies,
|
|
colliders,
|
|
modified_colliders,
|
|
removed_colliders,
|
|
hooks,
|
|
events,
|
|
false,
|
|
);
|
|
|
|
self.clear_modified_colliders(colliders, modified_colliders);
|
|
}
|
|
|
|
self.counters.step_completed();
|
|
}
|
|
}
|
|
|
|
#[cfg(test)]
|
|
mod test {
|
|
use crate::dynamics::{
|
|
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, RigidBodyBuilder,
|
|
RigidBodySet,
|
|
};
|
|
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
|
|
use crate::math::Vector;
|
|
use crate::pipeline::PhysicsPipeline;
|
|
use crate::prelude::MultibodyJointSet;
|
|
|
|
#[test]
|
|
fn kinematic_and_static_contact_crash() {
|
|
let mut colliders = ColliderSet::new();
|
|
let mut impulse_joints = ImpulseJointSet::new();
|
|
let mut multibody_joints = MultibodyJointSet::new();
|
|
let mut pipeline = PhysicsPipeline::new();
|
|
let mut bf = BroadPhase::new();
|
|
let mut nf = NarrowPhase::new();
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut islands = IslandManager::new();
|
|
|
|
let rb = RigidBodyBuilder::new_static().build();
|
|
let h1 = bodies.insert(rb.clone());
|
|
let co = ColliderBuilder::ball(10.0).build();
|
|
colliders.insert_with_parent(co.clone(), h1, &mut bodies);
|
|
|
|
// The same but with a kinematic body.
|
|
let rb = RigidBodyBuilder::new_kinematic_position_based().build();
|
|
let h2 = bodies.insert(rb.clone());
|
|
colliders.insert_with_parent(co, h2, &mut bodies);
|
|
|
|
pipeline.step(
|
|
&Vector::zeros(),
|
|
&IntegrationParameters::default(),
|
|
&mut islands,
|
|
&mut bf,
|
|
&mut nf,
|
|
&mut bodies,
|
|
&mut colliders,
|
|
&mut impulse_joints,
|
|
&mut multibody_joints,
|
|
&mut CCDSolver::new(),
|
|
&(),
|
|
&(),
|
|
);
|
|
}
|
|
|
|
#[test]
|
|
fn rigid_body_removal_before_step() {
|
|
let mut colliders = ColliderSet::new();
|
|
let mut impulse_joints = ImpulseJointSet::new();
|
|
let mut multibody_joints = MultibodyJointSet::new();
|
|
let mut pipeline = PhysicsPipeline::new();
|
|
let mut bf = BroadPhase::new();
|
|
let mut nf = NarrowPhase::new();
|
|
let mut islands = IslandManager::new();
|
|
|
|
let mut bodies = RigidBodySet::new();
|
|
|
|
// Check that removing the body right after inserting it works.
|
|
// We add two dynamic bodies, one kinematic body and one static body before removing
|
|
// them. This include a non-regression test where deleting a kimenatic body crashes.
|
|
let rb = RigidBodyBuilder::new_dynamic().build();
|
|
let h1 = bodies.insert(rb.clone());
|
|
let h2 = bodies.insert(rb.clone());
|
|
|
|
// The same but with a kinematic body.
|
|
let rb = RigidBodyBuilder::new_kinematic_position_based().build();
|
|
let h3 = bodies.insert(rb.clone());
|
|
|
|
// The same but with a static body.
|
|
let rb = RigidBodyBuilder::new_static().build();
|
|
let h4 = bodies.insert(rb.clone());
|
|
|
|
let to_delete = [h1, h2, h3, h4];
|
|
for h in &to_delete {
|
|
bodies.remove(
|
|
*h,
|
|
&mut islands,
|
|
&mut colliders,
|
|
&mut impulse_joints,
|
|
&mut multibody_joints,
|
|
);
|
|
}
|
|
|
|
pipeline.step(
|
|
&Vector::zeros(),
|
|
&IntegrationParameters::default(),
|
|
&mut islands,
|
|
&mut bf,
|
|
&mut nf,
|
|
&mut bodies,
|
|
&mut colliders,
|
|
&mut impulse_joints,
|
|
&mut multibody_joints,
|
|
&mut CCDSolver::new(),
|
|
&(),
|
|
&(),
|
|
);
|
|
}
|
|
|
|
#[cfg(feature = "serde")]
|
|
#[test]
|
|
fn rigid_body_removal_snapshot_handle_determinism() {
|
|
let mut colliders = ColliderSet::new();
|
|
let mut impulse_joints = ImpulseJointSet::new();
|
|
let mut multibody_joints = MultibodyJointSet::new();
|
|
let mut islands = IslandManager::new();
|
|
|
|
let mut bodies = RigidBodySet::new();
|
|
let rb = RigidBodyBuilder::new_dynamic().build();
|
|
let h1 = bodies.insert(rb.clone());
|
|
let h2 = bodies.insert(rb.clone());
|
|
let h3 = bodies.insert(rb.clone());
|
|
|
|
bodies.remove(
|
|
h1,
|
|
&mut islands,
|
|
&mut colliders,
|
|
&mut impulse_joints,
|
|
&mut multibody_joints,
|
|
);
|
|
bodies.remove(
|
|
h3,
|
|
&mut islands,
|
|
&mut colliders,
|
|
&mut impulse_joints,
|
|
&mut multibody_joints,
|
|
);
|
|
bodies.remove(
|
|
h2,
|
|
&mut islands,
|
|
&mut colliders,
|
|
&mut impulse_joints,
|
|
&mut multibody_joints,
|
|
);
|
|
|
|
let ser_bodies = bincode::serialize(&bodies).unwrap();
|
|
let mut bodies2: RigidBodySet = bincode::deserialize(&ser_bodies).unwrap();
|
|
|
|
let h1a = bodies.insert(rb.clone());
|
|
let h2a = bodies.insert(rb.clone());
|
|
let h3a = bodies.insert(rb.clone());
|
|
|
|
let h1b = bodies2.insert(rb.clone());
|
|
let h2b = bodies2.insert(rb.clone());
|
|
let h3b = bodies2.insert(rb.clone());
|
|
|
|
assert_eq!(h1a, h1b);
|
|
assert_eq!(h2a, h2b);
|
|
assert_eq!(h3a, h3b);
|
|
}
|
|
|
|
#[test]
|
|
fn collider_removal_before_step() {
|
|
let mut pipeline = PhysicsPipeline::new();
|
|
let gravity = Vector::y() * -9.81;
|
|
let integration_parameters = IntegrationParameters::default();
|
|
let mut broad_phase = BroadPhase::new();
|
|
let mut narrow_phase = NarrowPhase::new();
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let mut ccd = CCDSolver::new();
|
|
let mut impulse_joints = ImpulseJointSet::new();
|
|
let mut multibody_joints = MultibodyJointSet::new();
|
|
let mut islands = IslandManager::new();
|
|
let physics_hooks = ();
|
|
let event_handler = ();
|
|
|
|
let body = RigidBodyBuilder::new_dynamic().build();
|
|
let b_handle = bodies.insert(body);
|
|
let collider = ColliderBuilder::ball(1.0).build();
|
|
let c_handle = colliders.insert_with_parent(collider, b_handle, &mut bodies);
|
|
colliders.remove(c_handle, &mut islands, &mut bodies, true);
|
|
bodies.remove(
|
|
b_handle,
|
|
&mut islands,
|
|
&mut colliders,
|
|
&mut impulse_joints,
|
|
&mut multibody_joints,
|
|
);
|
|
|
|
for _ in 0..10 {
|
|
pipeline.step(
|
|
&gravity,
|
|
&integration_parameters,
|
|
&mut islands,
|
|
&mut broad_phase,
|
|
&mut narrow_phase,
|
|
&mut bodies,
|
|
&mut colliders,
|
|
&mut impulse_joints,
|
|
&mut multibody_joints,
|
|
&mut ccd,
|
|
&physics_hooks,
|
|
&event_handler,
|
|
);
|
|
}
|
|
}
|
|
}
|