559 lines
22 KiB
Rust
559 lines
22 KiB
Rust
use super::TOIEntry;
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use crate::dynamics::{IslandManager, RigidBodyHandle, RigidBodySet};
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use crate::geometry::{ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
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use crate::math::Real;
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use crate::parry::utils::SortedPair;
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use crate::pipeline::{EventHandler, QueryPipeline};
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use crate::prelude::{query_pipeline_generators, ActiveEvents, CollisionEventFlags};
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use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
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use parry::utils::hashmap::HashMap;
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use std::collections::BinaryHeap;
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pub enum PredictedImpacts {
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Impacts(HashMap<RigidBodyHandle, Real>),
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ImpactsAfterEndTime(Real),
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NoImpacts,
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}
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/// Solver responsible for performing motion-clamping on fast-moving bodies.
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#[derive(Clone)]
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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pub struct CCDSolver {
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#[cfg_attr(feature = "serde-serialize", serde(skip))]
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query_pipeline: QueryPipeline,
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}
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impl Default for CCDSolver {
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fn default() -> Self {
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Self::new()
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}
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}
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impl CCDSolver {
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/// Initializes a new CCD solver
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pub fn new() -> Self {
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Self::with_query_dispatcher(DefaultQueryDispatcher)
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}
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/// Initializes a CCD solver with a custom `QueryDispatcher` used for computing time-of-impacts.
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///
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/// Use this constructor in order to use a custom `QueryDispatcher` that is aware of your own
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/// user-defined shapes.
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pub fn with_query_dispatcher<D>(d: D) -> Self
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where
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D: 'static + QueryDispatcher,
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{
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CCDSolver {
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query_pipeline: QueryPipeline::with_query_dispatcher(d),
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}
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}
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/// Apply motion-clamping to the bodies affected by the given `impacts`.
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///
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/// The `impacts` should be the result of a previous call to `self.predict_next_impacts`.
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pub fn clamp_motions(&self, dt: Real, bodies: &mut RigidBodySet, impacts: &PredictedImpacts) {
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if let PredictedImpacts::Impacts(tois) = impacts {
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for (handle, toi) in tois {
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let rb = bodies.index_mut_internal(*handle);
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let local_com = &rb.mprops.local_mprops.local_com;
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let min_toi = (rb.ccd.ccd_thickness
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* 0.15
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* crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
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.min(dt);
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// println!(
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// "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
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// min_toi,
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// toi,
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// rb.ccd.ccd_thickness,
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// rb.ccd.max_point_velocity(&rb.integrated_vels)
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// );
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let new_pos =
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rb.integrated_vels
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.integrate(toi.max(min_toi), &rb.pos.position, local_com);
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rb.pos.next_position = new_pos;
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}
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}
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}
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/// Updates the set of bodies that needs CCD to be resolved.
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///
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/// Returns `true` if any rigid-body must have CCD resolved.
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pub fn update_ccd_active_flags(
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&self,
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islands: &IslandManager,
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bodies: &mut RigidBodySet,
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dt: Real,
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include_forces: bool,
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) -> bool {
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let mut ccd_active = false;
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// println!("Checking CCD activation");
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for handle in islands.active_dynamic_bodies() {
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let rb = bodies.index_mut_internal(*handle);
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if rb.ccd.ccd_enabled {
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let forces = if include_forces {
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Some(&rb.forces)
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} else {
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None
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};
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let moving_fast = rb.ccd.is_moving_fast(dt, &rb.integrated_vels, forces);
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rb.ccd.ccd_active = moving_fast;
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ccd_active = ccd_active || moving_fast;
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}
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}
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ccd_active
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}
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/// Find the first time a CCD-enabled body has a non-sensor collider hitting another non-sensor collider.
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#[profiling::function]
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pub fn find_first_impact(
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&mut self,
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dt: Real,
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islands: &IslandManager,
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bodies: &RigidBodySet,
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colliders: &ColliderSet,
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narrow_phase: &NarrowPhase,
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) -> Option<Real> {
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// Update the query pipeline.
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self.query_pipeline.update_with_generator(
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query_pipeline_generators::SweptAabbWithPredictedPosition {
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bodies,
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colliders,
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dt,
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},
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);
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let mut pairs_seen = HashMap::default();
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let mut min_toi = dt;
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for handle in islands.active_dynamic_bodies() {
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let rb1 = &bodies[*handle];
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if rb1.ccd.ccd_active {
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let predicted_body_pos1 = rb1.pos.integrate_forces_and_velocities(
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dt,
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&rb1.forces,
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&rb1.integrated_vels,
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&rb1.mprops,
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);
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for ch1 in &rb1.colliders.0 {
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let co1 = &colliders[*ch1];
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let co1_parent = co1
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.parent
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.as_ref()
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.expect("Could not find the ColliderParent component.");
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if co1.is_sensor() {
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continue; // Ignore sensors.
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}
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let predicted_collider_pos1 = predicted_body_pos1 * co1_parent.pos_wrt_parent;
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let aabb1 = co1
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.shape
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.compute_swept_aabb(&co1.pos, &predicted_collider_pos1);
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self.query_pipeline
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.colliders_with_aabb_intersecting_aabb(&aabb1, |ch2| {
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if *ch1 == *ch2 {
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// Ignore self-intersection.
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return true;
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}
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if pairs_seen
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.insert(
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SortedPair::new(ch1.into_raw_parts().0, ch2.into_raw_parts().0),
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(),
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)
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.is_none()
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{
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let co1 = &colliders[*ch1];
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let co2 = &colliders[*ch2];
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let bh1 = co1.parent.map(|p| p.handle);
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let bh2 = co2.parent.map(|p| p.handle);
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// Ignore self-intersection and sensors and apply collision groups filter.
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if bh1 == bh2 // Ignore self-intersection.
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|| (co1.is_sensor() || co2.is_sensor()) // Ignore sensors.
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|| !co1.flags.collision_groups.test(co2.flags.collision_groups) // Apply collision groups.
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|| !co1.flags.solver_groups.test(co2.flags.solver_groups)
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// Apply solver groups.
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{
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return true;
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}
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let smallest_dist = narrow_phase
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.contact_pair(*ch1, *ch2)
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.and_then(|p| p.find_deepest_contact())
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.map(|c| c.1.dist)
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.unwrap_or(0.0);
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let rb2 = bh2.and_then(|h| bodies.get(h));
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if let Some(toi) = TOIEntry::try_from_colliders(
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self.query_pipeline.query_dispatcher(),
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*ch1,
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*ch2,
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co1,
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co2,
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Some(rb1),
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rb2,
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None,
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None,
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0.0,
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min_toi,
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smallest_dist,
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) {
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min_toi = min_toi.min(toi.toi);
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}
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}
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true
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});
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}
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}
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}
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if min_toi < dt {
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Some(min_toi)
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} else {
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None
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}
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}
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/// Outputs the set of bodies as well as their first time-of-impact event.
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#[profiling::function]
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pub fn predict_impacts_at_next_positions(
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&mut self,
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dt: Real,
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islands: &IslandManager,
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bodies: &RigidBodySet,
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colliders: &ColliderSet,
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narrow_phase: &NarrowPhase,
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events: &dyn EventHandler,
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) -> PredictedImpacts {
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let mut frozen = HashMap::<_, Real>::default();
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let mut all_toi = BinaryHeap::new();
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let mut pairs_seen = HashMap::default();
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let mut min_overstep = dt;
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// Update the query pipeline.
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self.query_pipeline.update_with_generator(
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query_pipeline_generators::SweptAabbWithNextPosition { bodies, colliders },
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);
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/*
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*
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* First, collect all TOIs.
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*
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*/
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// TODO: don't iterate through all the colliders.
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for handle in islands.active_dynamic_bodies() {
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let rb1 = &bodies[*handle];
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if rb1.ccd.ccd_active {
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let predicted_body_pos1 = rb1.pos.integrate_forces_and_velocities(
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dt,
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&rb1.forces,
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&rb1.integrated_vels,
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&rb1.mprops,
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);
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for ch1 in &rb1.colliders.0 {
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let co1 = &colliders[*ch1];
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let co_parent1 = co1
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.parent
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.as_ref()
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.expect("Could not find the ColliderParent component.");
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let predicted_collider_pos1 = predicted_body_pos1 * co_parent1.pos_wrt_parent;
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let aabb1 = co1
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.shape
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.compute_swept_aabb(&co1.pos, &predicted_collider_pos1);
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self.query_pipeline
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.colliders_with_aabb_intersecting_aabb(&aabb1, |ch2| {
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if *ch1 == *ch2 {
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// Ignore self-intersection.
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return true;
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}
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if pairs_seen
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.insert(
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SortedPair::new(ch1.into_raw_parts().0, ch2.into_raw_parts().0),
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(),
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)
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.is_none()
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{
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let co1 = &colliders[*ch1];
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let co2 = &colliders[*ch2];
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let bh1 = co1.parent.map(|p| p.handle);
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let bh2 = co2.parent.map(|p| p.handle);
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// Ignore self-intersections and apply groups filter.
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if bh1 == bh2
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|| !co1.flags.collision_groups.test(co2.flags.collision_groups)
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{
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return true;
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}
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let smallest_dist = narrow_phase
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.contact_pair(*ch1, *ch2)
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.and_then(|p| p.find_deepest_contact())
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.map(|c| c.1.dist)
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.unwrap_or(0.0);
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let rb1 = bh1.map(|h| &bodies[h]);
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let rb2 = bh2.map(|h| &bodies[h]);
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if let Some(toi) = TOIEntry::try_from_colliders(
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self.query_pipeline.query_dispatcher(),
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*ch1,
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*ch2,
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co1,
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co2,
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rb1,
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rb2,
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None,
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None,
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0.0,
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// NOTE: we use dt here only once we know that
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// there is at least one TOI before dt.
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min_overstep,
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smallest_dist,
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) {
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if toi.toi > dt {
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min_overstep = min_overstep.min(toi.toi);
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} else {
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min_overstep = dt;
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all_toi.push(toi);
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}
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}
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}
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true
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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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* If the smallest TOI is outside of the time interval, return.
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*
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*/
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if min_overstep == dt && all_toi.is_empty() {
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return PredictedImpacts::NoImpacts;
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} else if min_overstep > dt {
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return PredictedImpacts::ImpactsAfterEndTime(min_overstep);
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}
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// NOTE: all fixed bodies (and kinematic bodies?) should be considered as "frozen", this
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// may avoid some resweeps.
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let mut pseudo_intersections_to_check = vec![];
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while let Some(toi) = all_toi.pop() {
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assert!(toi.toi <= dt);
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let rb1 = toi.b1.and_then(|b| bodies.get(b));
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let rb2 = toi.b2.and_then(|b| bodies.get(b));
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let mut colliders_to_check = Vec::new();
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let should_freeze1 = rb1.is_some()
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&& rb1.unwrap().ccd.ccd_active
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&& !frozen.contains_key(&toi.b1.unwrap());
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let should_freeze2 = rb2.is_some()
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&& rb2.unwrap().ccd.ccd_active
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&& !frozen.contains_key(&toi.b2.unwrap());
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if !should_freeze1 && !should_freeze2 {
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continue;
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}
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if toi.is_pseudo_intersection_test {
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// NOTE: this test is redundant with the previous `if !should_freeze && ...`
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// but let's keep it to avoid tricky regressions if we end up swapping both
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// `if` for some reasons in the future.
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if should_freeze1 || should_freeze2 {
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// This is only an intersection so we don't have to freeze and there is no
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// need to resweep. However we will need to see if we have to generate
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// intersection events, so push the TOI for further testing.
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pseudo_intersections_to_check.push(toi);
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}
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continue;
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}
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if should_freeze1 {
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let _ = frozen.insert(toi.b1.unwrap(), toi.toi);
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colliders_to_check.extend_from_slice(&rb1.unwrap().colliders.0);
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}
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if should_freeze2 {
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let _ = frozen.insert(toi.b2.unwrap(), toi.toi);
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colliders_to_check.extend_from_slice(&rb2.unwrap().colliders.0);
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}
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let start_time = toi.toi;
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// NOTE: the 1 and 2 indices (e.g., `ch1`, `ch2`) below are unrelated to the
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// ones we used above.
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for ch1 in &colliders_to_check {
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let co1 = &colliders[*ch1];
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let co1_parent = co1.parent.as_ref().unwrap();
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let rb1 = &bodies[co1_parent.handle];
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let co_next_pos1 = rb1.pos.next_position * co1_parent.pos_wrt_parent;
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let aabb = co1.shape.compute_swept_aabb(&co1.pos, &co_next_pos1);
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self.query_pipeline
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.colliders_with_aabb_intersecting_aabb(&aabb, |ch2| {
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let co2 = &colliders[*ch2];
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let bh1 = co1.parent.map(|p| p.handle);
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let bh2 = co2.parent.map(|p| p.handle);
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// Ignore self-intersection and apply groups filter.
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if bh1 == bh2
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|| !co1.flags.collision_groups.test(co2.flags.collision_groups)
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{
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return true;
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}
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let frozen1 = bh1.and_then(|h| frozen.get(&h));
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let frozen2 = bh2.and_then(|h| frozen.get(&h));
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let rb1 = bh1.and_then(|h| bodies.get(h));
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let rb2 = bh2.and_then(|h| bodies.get(h));
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if (frozen1.is_some() || !rb1.map(|b| b.ccd.ccd_active).unwrap_or(false))
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&& (frozen2.is_some()
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|| !rb2.map(|b| b.ccd.ccd_active).unwrap_or(false))
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{
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// We already did a resweep.
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return true;
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}
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let smallest_dist = narrow_phase
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.contact_pair(*ch1, *ch2)
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.and_then(|p| p.find_deepest_contact())
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.map(|c| c.1.dist)
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.unwrap_or(0.0);
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if let Some(toi) = TOIEntry::try_from_colliders(
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self.query_pipeline.query_dispatcher(),
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*ch1,
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*ch2,
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co1,
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co2,
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rb1,
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rb2,
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frozen1.copied(),
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frozen2.copied(),
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start_time,
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dt,
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smallest_dist,
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) {
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all_toi.push(toi);
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}
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true
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});
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}
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}
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for toi in pseudo_intersections_to_check {
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// See if the intersection is still active once the bodies
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// reach their final positions.
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// - If the intersection is still active, don't report it yet. It will be
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// reported by the narrow-phase at the next timestep/substep.
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// - If the intersection isn't active anymore, and it wasn't intersecting
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// before, then we need to generate one interaction-start and one interaction-stop
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// events because it will never be detected by the narrow-phase because of tunneling.
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let co1 = &colliders[toi.c1];
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let co2 = &colliders[toi.c2];
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if !co1.is_sensor() && !co2.is_sensor() {
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// TODO: this happens if we found a TOI between two non-sensor
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// colliders with mismatching solver_flags. It is not clear
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// what we should do in this case: we could report a
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// contact started/contact stopped event for example. But in
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// that case, what contact pair should be pass to these events?
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// For now we just ignore this special case. Let's wait for an actual
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// use-case to come up before we determine what we want to do here.
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continue;
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}
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let co_next_pos1 = if let Some(b1) = toi.b1 {
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let co_parent1: &ColliderParent = co1.parent.as_ref().unwrap();
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let rb1 = &bodies[b1];
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let local_com1 = &rb1.mprops.local_mprops.local_com;
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let frozen1 = frozen.get(&b1);
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let pos1 = frozen1
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.map(|t| {
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rb1.integrated_vels
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.integrate(*t, &rb1.pos.position, local_com1)
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})
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.unwrap_or(rb1.pos.next_position);
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pos1 * co_parent1.pos_wrt_parent
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} else {
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co1.pos.0
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};
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let co_next_pos2 = if let Some(b2) = toi.b2 {
|
|
let co_parent2: &ColliderParent = co2.parent.as_ref().unwrap();
|
|
let rb2 = &bodies[b2];
|
|
let local_com2 = &rb2.mprops.local_mprops.local_com;
|
|
let frozen2 = frozen.get(&b2);
|
|
let pos2 = frozen2
|
|
.map(|t| {
|
|
rb2.integrated_vels
|
|
.integrate(*t, &rb2.pos.position, local_com2)
|
|
})
|
|
.unwrap_or(rb2.pos.next_position);
|
|
pos2 * co_parent2.pos_wrt_parent
|
|
} else {
|
|
co2.pos.0
|
|
};
|
|
|
|
let prev_coll_pos12 = co1.pos.inv_mul(&co2.pos);
|
|
let next_coll_pos12 = co_next_pos1.inv_mul(&co_next_pos2);
|
|
|
|
let query_dispatcher = self.query_pipeline.query_dispatcher();
|
|
let intersect_before = query_dispatcher
|
|
.intersection_test(&prev_coll_pos12, co1.shape.as_ref(), co2.shape.as_ref())
|
|
.unwrap_or(false);
|
|
|
|
let intersect_after = query_dispatcher
|
|
.intersection_test(&next_coll_pos12, co1.shape.as_ref(), co2.shape.as_ref())
|
|
.unwrap_or(false);
|
|
|
|
if !intersect_before
|
|
&& !intersect_after
|
|
&& (co1.flags.active_events | co2.flags.active_events)
|
|
.contains(ActiveEvents::COLLISION_EVENTS)
|
|
{
|
|
// Emit one intersection-started and one intersection-stopped event.
|
|
events.handle_collision_event(
|
|
bodies,
|
|
colliders,
|
|
CollisionEvent::Started(toi.c1, toi.c2, CollisionEventFlags::SENSOR),
|
|
None,
|
|
);
|
|
events.handle_collision_event(
|
|
bodies,
|
|
colliders,
|
|
CollisionEvent::Stopped(toi.c1, toi.c2, CollisionEventFlags::SENSOR),
|
|
None,
|
|
);
|
|
}
|
|
}
|
|
|
|
PredictedImpacts::Impacts(frozen)
|
|
}
|
|
}
|