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| author | Sébastien Crozet <developer@crozet.re> | 2022-05-30 18:21:35 +0200 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-05-30 18:29:18 +0200 |
| commit | 6ce26f3818492682a8572c895264f1e63f94b9d5 (patch) | |
| tree | d8efa80fafcc94584417c7da24f2bf99f6eb31ec /src/dynamics/ccd/toi_entry.rs | |
| parent | c630635e57624385123b4a0fb658018bc6fdba91 (diff) | |
| download | rapier-6ce26f3818492682a8572c895264f1e63f94b9d5.tar.gz rapier-6ce26f3818492682a8572c895264f1e63f94b9d5.tar.bz2 rapier-6ce26f3818492682a8572c895264f1e63f94b9d5.zip | |
CCD improvements
- Fix bug where the CCD thickness wasn’t initialized properly.
- Fix bug where the contact compliance would result in unwanted tunelling, despite CCD being enabled.
Diffstat (limited to 'src/dynamics/ccd/toi_entry.rs')
| -rw-r--r-- | src/dynamics/ccd/toi_entry.rs | 34 |
1 files changed, 24 insertions, 10 deletions
diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs index 4591825..6f5a47d 100644 --- a/src/dynamics/ccd/toi_entry.rs +++ b/src/dynamics/ccd/toi_entry.rs @@ -56,14 +56,14 @@ impl TOIEntry { return None; } - let linvel1 = - frozen1.is_none() as u32 as Real * rb1.map(|b| b.vels.linvel).unwrap_or(na::zero()); - let linvel2 = - frozen2.is_none() as u32 as Real * rb2.map(|b| b.vels.linvel).unwrap_or(na::zero()); - let angvel1 = - frozen1.is_none() as u32 as Real * rb1.map(|b| b.vels.angvel).unwrap_or(na::zero()); - let angvel2 = - frozen2.is_none() as u32 as Real * rb2.map(|b| b.vels.angvel).unwrap_or(na::zero()); + let linvel1 = frozen1.is_none() as u32 as Real + * rb1.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero()); + let linvel2 = frozen2.is_none() as u32 as Real + * rb2.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero()); + let angvel1 = frozen1.is_none() as u32 as Real + * rb1.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero()); + let angvel2 = frozen2.is_none() as u32 as Real + * rb2.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero()); #[cfg(feature = "dim2")] let vel12 = (linvel2 - linvel1).norm() @@ -114,6 +114,20 @@ impl TOIEntry { // because the colliders may be in a separating trajectory. let stop_at_penetration = is_pseudo_intersection_test; + // let pos12 = motion_c1 + // .position_at_time(start_time) + // .inv_mul(&motion_c2.position_at_time(start_time)); + // let vel12 = linvel2 - linvel1; + // let res_toi = query_dispatcher + // .time_of_impact( + // &pos12, + // &vel12, + // co1.shape.as_ref(), + // co2.shape.as_ref(), + // end_time - start_time, + // ) + // .ok(); + let res_toi = query_dispatcher .nonlinear_time_of_impact( &motion_c1, @@ -144,8 +158,8 @@ impl TOIEntry { NonlinearRigidMotion::new( rb.pos.position, rb.mprops.local_mprops.local_com, - rb.vels.linvel, - rb.vels.angvel, + rb.integrated_vels.linvel, + rb.integrated_vels.angvel, ) } else { NonlinearRigidMotion::constant_position(rb.pos.next_position) |