843 lines
30 KiB
Rust
843 lines
30 KiB
Rust
//! Physics pipeline structures.
|
|
|
|
use crate::counters::Counters;
|
|
use crate::data::{BundleSet, ComponentSet, ComponentSetMut, ComponentSetOption};
|
|
#[cfg(not(feature = "parallel"))]
|
|
use crate::dynamics::IslandSolver;
|
|
use crate::dynamics::{
|
|
CCDSolver, IntegrationParameters, IslandManager, JointSet, RigidBodyActivation, RigidBodyCcd,
|
|
RigidBodyChanges, RigidBodyColliders, RigidBodyDamping, RigidBodyDominance, RigidBodyForces,
|
|
RigidBodyHandle, RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyType,
|
|
RigidBodyVelocity,
|
|
};
|
|
#[cfg(feature = "parallel")]
|
|
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
|
|
use crate::geometry::{
|
|
BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderGroups,
|
|
ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition,
|
|
ColliderShape, ColliderType, ContactManifoldIndex, NarrowPhase,
|
|
};
|
|
use crate::math::{Real, Vector};
|
|
use crate::pipeline::{EventHandler, PhysicsHooks};
|
|
|
|
#[cfg(feature = "default-sets")]
|
|
use {crate::dynamics::RigidBodySet, crate::geometry::ColliderSet};
|
|
|
|
/// The physics pipeline, responsible for stepping the whole physics simulation.
|
|
///
|
|
/// This structure only contains temporary data buffers. It can be dropped and replaced by a fresh
|
|
/// copy at any time. For performance reasons it is recommended to reuse the same physics pipeline
|
|
/// instance to benefit from the cached data.
|
|
///
|
|
/// Rapier relies on a time-stepping scheme. Its force computations
|
|
/// uses two solvers:
|
|
/// - A velocity based solver based on PGS which computes forces for contact and joint constraints.
|
|
/// - A position based solver based on non-linear PGS which performs constraint stabilization (i.e. correction of errors like penetrations).
|
|
// NOTE: this contains only workspace data, so there is no point in making this serializable.
|
|
pub struct PhysicsPipeline {
|
|
/// Counters used for benchmarking only.
|
|
pub counters: Counters,
|
|
manifold_indices: Vec<Vec<ContactManifoldIndex>>,
|
|
joint_constraint_indices: Vec<Vec<ContactManifoldIndex>>,
|
|
broadphase_collider_pairs: Vec<ColliderPair>,
|
|
broad_phase_events: Vec<BroadPhasePairEvent>,
|
|
solvers: Vec<IslandSolver>,
|
|
}
|
|
|
|
impl Default for PhysicsPipeline {
|
|
fn default() -> Self {
|
|
PhysicsPipeline::new()
|
|
}
|
|
}
|
|
|
|
#[allow(dead_code)]
|
|
fn check_pipeline_send_sync() {
|
|
fn do_test<T: Sync>() {}
|
|
do_test::<PhysicsPipeline>();
|
|
}
|
|
|
|
impl PhysicsPipeline {
|
|
/// Initializes a new physics pipeline.
|
|
pub fn new() -> PhysicsPipeline {
|
|
PhysicsPipeline {
|
|
counters: Counters::new(false),
|
|
solvers: Vec::new(),
|
|
manifold_indices: Vec::new(),
|
|
joint_constraint_indices: Vec::new(),
|
|
broadphase_collider_pairs: Vec::new(),
|
|
broad_phase_events: Vec::new(),
|
|
}
|
|
}
|
|
|
|
fn clear_modified_colliders(
|
|
&mut self,
|
|
colliders: &mut impl ComponentSetMut<ColliderChanges>,
|
|
modified_colliders: &mut Vec<ColliderHandle>,
|
|
) {
|
|
for handle in modified_colliders.drain(..) {
|
|
colliders.set_internal(handle.0, ColliderChanges::empty())
|
|
}
|
|
}
|
|
|
|
fn detect_collisions<Bodies, Colliders>(
|
|
&mut self,
|
|
integration_parameters: &IntegrationParameters,
|
|
islands: &mut IslandManager,
|
|
broad_phase: &mut BroadPhase,
|
|
narrow_phase: &mut NarrowPhase,
|
|
bodies: &mut Bodies,
|
|
colliders: &mut Colliders,
|
|
modified_colliders: &[ColliderHandle],
|
|
removed_colliders: &[ColliderHandle],
|
|
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
|
|
events: &dyn EventHandler,
|
|
handle_user_changes: bool,
|
|
) where
|
|
Bodies: ComponentSetMut<RigidBodyActivation>
|
|
+ ComponentSet<RigidBodyType>
|
|
+ ComponentSetMut<RigidBodyIds>
|
|
+ ComponentSet<RigidBodyDominance>,
|
|
Colliders: ComponentSetMut<ColliderBroadPhaseData>
|
|
+ ComponentSet<ColliderChanges>
|
|
+ ComponentSet<ColliderPosition>
|
|
+ ComponentSet<ColliderShape>
|
|
+ ComponentSetOption<ColliderParent>
|
|
+ ComponentSet<ColliderType>
|
|
+ ComponentSet<ColliderGroups>
|
|
+ ComponentSet<ColliderMaterial>,
|
|
{
|
|
self.counters.stages.collision_detection_time.resume();
|
|
self.counters.cd.broad_phase_time.resume();
|
|
|
|
// Update broad-phase.
|
|
self.broad_phase_events.clear();
|
|
self.broadphase_collider_pairs.clear();
|
|
broad_phase.update(
|
|
integration_parameters.prediction_distance,
|
|
colliders,
|
|
modified_colliders,
|
|
removed_colliders,
|
|
&mut self.broad_phase_events,
|
|
);
|
|
|
|
self.counters.cd.broad_phase_time.pause();
|
|
self.counters.cd.narrow_phase_time.resume();
|
|
|
|
// Update narrow-phase.
|
|
if handle_user_changes {
|
|
narrow_phase.handle_user_changes(
|
|
islands,
|
|
modified_colliders,
|
|
removed_colliders,
|
|
colliders,
|
|
bodies,
|
|
events,
|
|
);
|
|
}
|
|
narrow_phase.register_pairs(islands, colliders, bodies, &self.broad_phase_events, events);
|
|
narrow_phase.compute_contacts(
|
|
integration_parameters.prediction_distance,
|
|
bodies,
|
|
colliders,
|
|
modified_colliders,
|
|
hooks,
|
|
events,
|
|
);
|
|
narrow_phase.compute_intersections(bodies, colliders, modified_colliders, hooks, events);
|
|
|
|
self.counters.cd.narrow_phase_time.pause();
|
|
self.counters.stages.collision_detection_time.pause();
|
|
}
|
|
|
|
fn solve_position_constraints<Bodies>(
|
|
&mut self,
|
|
integration_parameters: &IntegrationParameters,
|
|
islands: &IslandManager,
|
|
bodies: &mut Bodies,
|
|
) where
|
|
Bodies: ComponentSet<RigidBodyIds> + ComponentSetMut<RigidBodyPosition>,
|
|
{
|
|
#[cfg(not(feature = "parallel"))]
|
|
{
|
|
enable_flush_to_zero!();
|
|
|
|
for island_id in 0..islands.num_islands() {
|
|
self.solvers[island_id].solve_position_constraints(
|
|
island_id,
|
|
islands,
|
|
&mut self.counters,
|
|
integration_parameters,
|
|
bodies,
|
|
)
|
|
}
|
|
}
|
|
|
|
#[cfg(feature = "parallel")]
|
|
{
|
|
use rayon::prelude::*;
|
|
use std::sync::atomic::Ordering;
|
|
|
|
let num_islands = ilands.num_islands();
|
|
let solvers = &mut self.solvers[..num_islands];
|
|
let bodies = &std::sync::atomic::AtomicPtr::new(bodies as *mut _);
|
|
|
|
rayon::scope(|scope| {
|
|
enable_flush_to_zero!();
|
|
|
|
solvers
|
|
.par_iter_mut()
|
|
.enumerate()
|
|
.for_each(|(island_id, solver)| {
|
|
let bodies: &mut Bodies =
|
|
unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) };
|
|
|
|
solver.solve_position_constraints(
|
|
scope,
|
|
island_id,
|
|
integration_parameters,
|
|
bodies,
|
|
)
|
|
});
|
|
});
|
|
}
|
|
}
|
|
|
|
fn build_islands_and_solve_velocity_constraints<Bodies, Colliders>(
|
|
&mut self,
|
|
gravity: &Vector<Real>,
|
|
integration_parameters: &IntegrationParameters,
|
|
islands: &mut IslandManager,
|
|
narrow_phase: &mut NarrowPhase,
|
|
bodies: &mut Bodies,
|
|
colliders: &mut Colliders,
|
|
joints: &mut JointSet,
|
|
) where
|
|
Bodies: ComponentSetMut<RigidBodyPosition>
|
|
+ ComponentSetMut<RigidBodyVelocity>
|
|
+ ComponentSetMut<RigidBodyMassProps>
|
|
+ ComponentSetMut<RigidBodyForces>
|
|
+ ComponentSetMut<RigidBodyIds>
|
|
+ ComponentSetMut<RigidBodyActivation>
|
|
+ ComponentSet<RigidBodyDamping>
|
|
+ ComponentSet<RigidBodyColliders>
|
|
+ ComponentSet<RigidBodyType>,
|
|
Colliders: ComponentSetOption<ColliderParent>,
|
|
{
|
|
self.counters.stages.island_construction_time.resume();
|
|
islands.update_active_set_with_contacts(
|
|
bodies,
|
|
colliders,
|
|
narrow_phase,
|
|
joints.joint_graph(),
|
|
integration_parameters.min_island_size,
|
|
);
|
|
self.counters.stages.island_construction_time.pause();
|
|
|
|
if self.manifold_indices.len() < islands.num_islands() {
|
|
self.manifold_indices
|
|
.resize(islands.num_islands(), Vec::new());
|
|
}
|
|
|
|
if self.joint_constraint_indices.len() < islands.num_islands() {
|
|
self.joint_constraint_indices
|
|
.resize(islands.num_islands(), Vec::new());
|
|
}
|
|
|
|
let mut manifolds = Vec::new();
|
|
narrow_phase.select_active_contacts(
|
|
islands,
|
|
bodies,
|
|
&mut manifolds,
|
|
&mut self.manifold_indices,
|
|
);
|
|
joints.select_active_interactions(islands, bodies, &mut self.joint_constraint_indices);
|
|
|
|
self.counters.stages.update_time.resume();
|
|
for handle in islands.active_dynamic_bodies() {
|
|
let poss: &RigidBodyPosition = bodies.index(handle.0);
|
|
let position = poss.position;
|
|
|
|
let effective_inv_mass = bodies
|
|
.map_mut_internal(handle.0, |mprops: &mut RigidBodyMassProps| {
|
|
mprops.update_world_mass_properties(&position);
|
|
mprops.effective_mass()
|
|
})
|
|
.unwrap();
|
|
bodies.map_mut_internal(handle.0, |forces: &mut RigidBodyForces| {
|
|
forces.add_linear_acceleration(&gravity, effective_inv_mass)
|
|
});
|
|
}
|
|
self.counters.stages.update_time.pause();
|
|
|
|
self.counters.stages.solver_time.resume();
|
|
if self.solvers.len() < islands.num_islands() {
|
|
self.solvers
|
|
.resize_with(islands.num_islands(), IslandSolver::new);
|
|
}
|
|
|
|
#[cfg(not(feature = "parallel"))]
|
|
{
|
|
enable_flush_to_zero!();
|
|
|
|
for island_id in 0..islands.num_islands() {
|
|
self.solvers[island_id].init_constraints_and_solve_velocity_constraints(
|
|
island_id,
|
|
&mut self.counters,
|
|
integration_parameters,
|
|
islands,
|
|
bodies,
|
|
&mut manifolds[..],
|
|
&self.manifold_indices[island_id],
|
|
joints.joints_mut(),
|
|
&self.joint_constraint_indices[island_id],
|
|
)
|
|
}
|
|
}
|
|
|
|
#[cfg(feature = "parallel")]
|
|
{
|
|
use crate::geometry::ContactManifold;
|
|
use rayon::prelude::*;
|
|
use std::sync::atomic::Ordering;
|
|
|
|
let num_islands = bodies.num_islands();
|
|
let solvers = &mut self.solvers[..num_islands];
|
|
let bodies = &std::sync::atomic::AtomicPtr::new(bodies as *mut _);
|
|
let manifolds = &std::sync::atomic::AtomicPtr::new(&mut manifolds as *mut _);
|
|
let joints = &std::sync::atomic::AtomicPtr::new(joints.joints_vec_mut() as *mut _);
|
|
let manifold_indices = &self.manifold_indices[..];
|
|
let joint_constraint_indices = &self.joint_constraint_indices[..];
|
|
|
|
rayon::scope(|scope| {
|
|
enable_flush_to_zero!();
|
|
|
|
solvers
|
|
.par_iter_mut()
|
|
.enumerate()
|
|
.for_each(|(island_id, solver)| {
|
|
let bodies: &mut Bodies =
|
|
unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) };
|
|
let manifolds: &mut Vec<&mut ContactManifold> =
|
|
unsafe { std::mem::transmute(manifolds.load(Ordering::Relaxed)) };
|
|
let joints: &mut Vec<JointGraphEdge> =
|
|
unsafe { std::mem::transmute(joints.load(Ordering::Relaxed)) };
|
|
|
|
solver.init_constraints_and_solve_velocity_constraints(
|
|
scope,
|
|
island_id,
|
|
integration_parameters,
|
|
bodies,
|
|
manifolds,
|
|
&manifold_indices[island_id],
|
|
joints,
|
|
&joint_constraint_indices[island_id],
|
|
)
|
|
});
|
|
});
|
|
}
|
|
self.counters.stages.solver_time.pause();
|
|
}
|
|
|
|
fn run_ccd_motion_clamping<Bodies, Colliders>(
|
|
&mut self,
|
|
integration_parameters: &IntegrationParameters,
|
|
islands: &IslandManager,
|
|
bodies: &mut Bodies,
|
|
colliders: &mut Colliders,
|
|
narrow_phase: &NarrowPhase,
|
|
ccd_solver: &mut CCDSolver,
|
|
events: &dyn EventHandler,
|
|
) where
|
|
Bodies: ComponentSetMut<RigidBodyPosition>
|
|
+ ComponentSet<RigidBodyVelocity>
|
|
+ ComponentSet<RigidBodyCcd>
|
|
+ ComponentSet<RigidBodyColliders>
|
|
+ ComponentSet<RigidBodyForces>
|
|
+ ComponentSet<RigidBodyMassProps>,
|
|
Colliders: ComponentSetOption<ColliderParent>
|
|
+ ComponentSet<ColliderPosition>
|
|
+ ComponentSet<ColliderShape>
|
|
+ ComponentSet<ColliderType>,
|
|
{
|
|
self.counters.ccd.toi_computation_time.start();
|
|
// Handle CCD
|
|
let impacts = ccd_solver.predict_impacts_at_next_positions(
|
|
integration_parameters.dt,
|
|
islands,
|
|
bodies,
|
|
colliders,
|
|
narrow_phase,
|
|
events,
|
|
);
|
|
ccd_solver.clamp_motions(integration_parameters.dt, bodies, &impacts);
|
|
self.counters.ccd.toi_computation_time.pause();
|
|
}
|
|
|
|
fn advance_to_final_positions<Bodies, Colliders>(
|
|
&mut self,
|
|
islands: &IslandManager,
|
|
bodies: &mut Bodies,
|
|
colliders: &mut Colliders,
|
|
modified_colliders: &mut Vec<ColliderHandle>,
|
|
clear_forces: bool,
|
|
) where
|
|
Bodies: ComponentSetMut<RigidBodyVelocity>
|
|
+ ComponentSetMut<RigidBodyForces>
|
|
+ ComponentSetMut<RigidBodyPosition>
|
|
+ ComponentSet<RigidBodyType>
|
|
+ ComponentSet<RigidBodyColliders>,
|
|
Colliders: ComponentSetMut<ColliderPosition>
|
|
+ ComponentSetMut<ColliderChanges>
|
|
+ ComponentSetOption<ColliderParent>,
|
|
{
|
|
// Set the rigid-bodies and kinematic bodies to their final position.
|
|
for handle in islands.iter_active_bodies() {
|
|
let status: &RigidBodyType = bodies.index(handle.0);
|
|
if status.is_kinematic() {
|
|
bodies.set_internal(handle.0, RigidBodyVelocity::zero());
|
|
}
|
|
|
|
if clear_forces {
|
|
bodies.map_mut_internal(handle.0, |f: &mut RigidBodyForces| {
|
|
f.torque = na::zero();
|
|
f.force = na::zero();
|
|
});
|
|
}
|
|
|
|
bodies.map_mut_internal(handle.0, |poss: &mut RigidBodyPosition| {
|
|
poss.position = poss.next_position
|
|
});
|
|
|
|
let (rb_poss, rb_colls): (&RigidBodyPosition, &RigidBodyColliders) =
|
|
bodies.index_bundle(handle.0);
|
|
rb_colls.update_positions(colliders, modified_colliders, &rb_poss.position);
|
|
}
|
|
}
|
|
|
|
fn interpolate_kinematic_velocities<Bodies>(
|
|
&mut self,
|
|
integration_parameters: &IntegrationParameters,
|
|
islands: &IslandManager,
|
|
bodies: &mut Bodies,
|
|
) where
|
|
Bodies: ComponentSetMut<RigidBodyVelocity> + ComponentSet<RigidBodyPosition>,
|
|
{
|
|
// Update kinematic bodies velocities.
|
|
// TODO: what is the best place for this? It should at least be
|
|
// located before the island computation because we test the velocity
|
|
// there to determine if this kinematic body should wake-up dynamic
|
|
// bodies it is touching.
|
|
for handle in islands.active_kinematic_bodies() {
|
|
let ppos: &RigidBodyPosition = bodies.index(handle.0);
|
|
let new_vel = ppos.interpolate_velocity(integration_parameters.inv_dt());
|
|
bodies.set_internal(handle.0, new_vel);
|
|
}
|
|
}
|
|
|
|
#[cfg(feature = "default-sets")]
|
|
pub fn step(
|
|
&mut self,
|
|
gravity: &Vector<Real>,
|
|
integration_parameters: &IntegrationParameters,
|
|
islands: &mut IslandManager,
|
|
broad_phase: &mut BroadPhase,
|
|
narrow_phase: &mut NarrowPhase,
|
|
bodies: &mut RigidBodySet,
|
|
colliders: &mut ColliderSet,
|
|
joints: &mut JointSet,
|
|
ccd_solver: &mut CCDSolver,
|
|
hooks: &dyn PhysicsHooks<RigidBodySet, ColliderSet>,
|
|
events: &dyn EventHandler,
|
|
) {
|
|
let mut modified_bodies = bodies.take_modified();
|
|
let mut modified_colliders = colliders.take_modified();
|
|
let mut removed_colliders = colliders.take_removed();
|
|
|
|
self.step_generic(
|
|
gravity,
|
|
integration_parameters,
|
|
islands,
|
|
broad_phase,
|
|
narrow_phase,
|
|
bodies,
|
|
colliders,
|
|
&mut modified_bodies,
|
|
&mut modified_colliders,
|
|
&mut removed_colliders,
|
|
joints,
|
|
ccd_solver,
|
|
hooks,
|
|
events,
|
|
);
|
|
}
|
|
|
|
/// Executes one timestep of the physics simulation.
|
|
pub fn step_generic<Bodies, Colliders>(
|
|
&mut self,
|
|
gravity: &Vector<Real>,
|
|
integration_parameters: &IntegrationParameters,
|
|
islands: &mut IslandManager,
|
|
broad_phase: &mut BroadPhase,
|
|
narrow_phase: &mut NarrowPhase,
|
|
bodies: &mut Bodies,
|
|
colliders: &mut Colliders,
|
|
modified_bodies: &mut Vec<RigidBodyHandle>,
|
|
modified_colliders: &mut Vec<ColliderHandle>,
|
|
removed_colliders: &mut Vec<ColliderHandle>,
|
|
joints: &mut JointSet,
|
|
ccd_solver: &mut CCDSolver,
|
|
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<ColliderGroups>
|
|
+ ComponentSet<ColliderMaterial>,
|
|
{
|
|
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(
|
|
islands,
|
|
bodies,
|
|
colliders,
|
|
&modified_bodies,
|
|
modified_colliders,
|
|
);
|
|
|
|
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,
|
|
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,
|
|
);
|
|
}
|
|
}
|
|
|
|
// NOTE: we need to run the position solver **after** the
|
|
// CCD motion clamping because otherwise the clamping
|
|
// would undo the depenetration done by the position
|
|
// solver.
|
|
// This happens because our CCD use the real rigid-body
|
|
// velocities instead of just interpolating between
|
|
// isometries.
|
|
self.solve_position_constraints(&integration_parameters, islands, bodies);
|
|
|
|
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, IntegrationParameters, JointSet, RigidBodyBuilder, RigidBodySet,
|
|
};
|
|
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
|
|
use crate::math::Vector;
|
|
use crate::pipeline::PhysicsPipeline;
|
|
|
|
#[test]
|
|
fn kinematic_and_static_contact_crash() {
|
|
let mut colliders = ColliderSet::new();
|
|
let mut joints = JointSet::new();
|
|
let mut pipeline = PhysicsPipeline::new();
|
|
let mut bf = BroadPhase::new();
|
|
let mut nf = NarrowPhase::new();
|
|
let mut bodies = RigidBodySet::new();
|
|
|
|
let rb = RigidBodyBuilder::new_static().build();
|
|
let h1 = bodies.insert(rb.clone());
|
|
let co = ColliderBuilder::ball(10.0).build();
|
|
colliders.insert(co.clone(), h1, &mut bodies);
|
|
|
|
// The same but with a kinematic body.
|
|
let rb = RigidBodyBuilder::new_kinematic().build();
|
|
let h2 = bodies.insert(rb.clone());
|
|
colliders.insert(co, h2, &mut bodies);
|
|
|
|
pipeline.step(
|
|
&Vector::zeros(),
|
|
&IntegrationParameters::default(),
|
|
&mut bf,
|
|
&mut nf,
|
|
&mut bodies,
|
|
&mut colliders,
|
|
&mut joints,
|
|
&mut CCDSolver::new(),
|
|
&(),
|
|
&(),
|
|
);
|
|
}
|
|
|
|
#[test]
|
|
fn rigid_body_removal_before_step() {
|
|
let mut colliders = ColliderSet::new();
|
|
let mut joints = JointSet::new();
|
|
let mut pipeline = PhysicsPipeline::new();
|
|
let mut bf = BroadPhase::new();
|
|
let mut nf = NarrowPhase::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().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 colliders, &mut joints);
|
|
}
|
|
|
|
pipeline.step(
|
|
&Vector::zeros(),
|
|
&IntegrationParameters::default(),
|
|
&mut bf,
|
|
&mut nf,
|
|
&mut bodies,
|
|
&mut colliders,
|
|
&mut joints,
|
|
&mut CCDSolver::new(),
|
|
&(),
|
|
&(),
|
|
);
|
|
}
|
|
|
|
#[cfg(feature = "serde")]
|
|
#[test]
|
|
fn rigid_body_removal_snapshot_handle_determinism() {
|
|
let mut colliders = ColliderSet::new();
|
|
let mut joints = JointSet::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 colliders, &mut joints);
|
|
bodies.remove(h3, &mut colliders, &mut joints);
|
|
bodies.remove(h2, &mut colliders, &mut 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 joints = JointSet::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(collider, b_handle, &mut bodies);
|
|
colliders.remove(c_handle, &mut bodies, true);
|
|
bodies.remove(b_handle, &mut colliders, &mut joints);
|
|
|
|
for _ in 0..10 {
|
|
pipeline.step(
|
|
&gravity,
|
|
&integration_parameters,
|
|
&mut broad_phase,
|
|
&mut narrow_phase,
|
|
&mut bodies,
|
|
&mut colliders,
|
|
&mut joints,
|
|
&mut ccd,
|
|
&physics_hooks,
|
|
&event_handler,
|
|
);
|
|
}
|
|
}
|
|
}
|