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| author | Crozet Sébastien <developer@crozet.re> | 2021-04-27 16:43:24 +0200 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-04-27 16:43:24 +0200 |
| commit | 83cb981a88772626dcfb091430e8c3dba62ba1e8 (patch) | |
| tree | 8bc1f363105aca76d1d590220c8cb08b853211f3 | |
| parent | 3cab54b880fbe762cd0909c51b8b8e18c45c4745 (diff) | |
| download | rapier-83cb981a88772626dcfb091430e8c3dba62ba1e8.tar.gz rapier-83cb981a88772626dcfb091430e8c3dba62ba1e8.tar.bz2 rapier-83cb981a88772626dcfb091430e8c3dba62ba1e8.zip | |
Fix regression in CCD resolution.
| -rw-r--r-- | src/dynamics/ccd/ccd_solver.rs | 12 | ||||
| -rw-r--r-- | src/dynamics/rigid_body_components.rs | 2 | ||||
| -rw-r--r-- | src/pipeline/query_pipeline.rs | 6 |
3 files changed, 11 insertions, 9 deletions
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs index 6afd860..b348283 100644 --- a/src/dynamics/ccd/ccd_solver.rs +++ b/src/dynamics/ccd/ccd_solver.rs @@ -59,7 +59,6 @@ impl CCDSolver { { match impacts { PredictedImpacts::Impacts(tois) => { - // println!("Num to clamp: {}", tois.len()); for (handle, toi) in tois { let (rb_poss, vels, ccd, mprops): ( &RigidBodyPosition, @@ -166,7 +165,7 @@ impl CCDSolver { ) = bodies.index_bundle(handle.0); let predicted_body_pos1 = - rb_pos1.integrate_force_and_velocity(dt, forces1, rb_vels1, rb_mprops1); + rb_pos1.integrate_forces_and_velocities(dt, forces1, rb_vels1, rb_mprops1); for ch1 in &rb_colliders1.0 { let co_parent1: &ColliderParent = colliders @@ -307,7 +306,7 @@ impl CCDSolver { ) = bodies.index_bundle(handle.0); let predicted_body_pos1 = - rb_pos1.integrate_force_and_velocity(dt, forces1, rb_vels1, rb_mprops1); + rb_pos1.integrate_forces_and_velocities(dt, forces1, rb_vels1, rb_mprops1); for ch1 in &rb_colliders1.0 { let co_parent1: &ColliderParent = colliders @@ -352,6 +351,7 @@ impl CCDSolver { .map(|c| c.1.dist) .unwrap_or(0.0); + let b1 = bh1.map(|h| bodies.index_bundle(h.0)); let b2 = bh2.map(|h| bodies.index_bundle(h.0)); if let Some(toi) = TOIEntry::try_from_colliders( @@ -360,7 +360,7 @@ impl CCDSolver { *ch2, (c1.0, c1.1, c1.2, co_parent1), (c2.0, c2.1, c2.2, co_parent2), - Some((rb_pos1, rb_vels1, rb_mprops1, rb_ccd1)), + b1, b2, None, None, @@ -445,6 +445,8 @@ impl CCDSolver { let start_time = toi.toi; + // NOTE: the 1 and 2 indices (e.g., `ch1`, `ch2`) bellow are unrelated to the + // ones we used above. for ch1 in &colliders_to_check { let co_parent1: &ColliderParent = colliders.get(ch1.0).unwrap(); let (co_shape1, co_pos1): (&ColliderShape, &ColliderPosition) = @@ -475,7 +477,7 @@ impl CCDSolver { let b1: Option<(_, _, _, &RigidBodyCcd)> = bh1.map(|h| bodies.index_bundle(h.0)); let b2: Option<(_, _, _, &RigidBodyCcd)> = - bh1.map(|h| bodies.index_bundle(h.0)); + bh2.map(|h| bodies.index_bundle(h.0)); if (frozen1.is_some() || !b1.map(|b| b.3.ccd_active).unwrap_or(false)) && (frozen2.is_some() || !b2.map(|b| b.3.ccd_active).unwrap_or(false)) diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs index 855a0e8..c87df1f 100644 --- a/src/dynamics/rigid_body_components.rs +++ b/src/dynamics/rigid_body_components.rs @@ -144,7 +144,7 @@ impl RigidBodyPosition { } #[must_use] - pub fn integrate_force_and_velocity( + pub fn integrate_forces_and_velocities( &self, dt: Real, forces: &RigidBodyForces, diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs index 592b4a6..522e4c4 100644 --- a/src/pipeline/query_pipeline.rs +++ b/src/pipeline/query_pipeline.rs @@ -248,8 +248,8 @@ impl QueryPipeline { &RigidBodyForces, &RigidBodyMassProps, ) = self.bodies.index_bundle(co_parent.handle.0); - let predicted_pos = - rb_pos.integrate_force_and_velocity(dt, forces, vels, mprops); + let predicted_pos = rb_pos + .integrate_forces_and_velocities(dt, forces, vels, mprops); let next_position = predicted_pos * co_parent.pos_wrt_parent; f( @@ -331,7 +331,7 @@ impl QueryPipeline { ) = bodies.index_bundle(co_parent.handle.0); let predicted_pos = - rb_pos.integrate_force_and_velocity(dt, forces, vels, mprops); + rb_pos.integrate_forces_and_velocities(dt, forces, vels, mprops); let next_position = predicted_pos * co_parent.pos_wrt_parent; co_shape.compute_swept_aabb(&co_pos, &next_position) |