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-rw-r--r--examples2d/all_examples2.rs2
-rw-r--r--examples2d/restitution2.rs56
-rw-r--r--examples3d/all_examples3.rs2
-rw-r--r--examples3d/restitution3.rs56
-rw-r--r--src/dynamics/solver/velocity_constraint.rs9
-rw-r--r--src/dynamics/solver/velocity_constraint_wide.rs11
-rw-r--r--src/dynamics/solver/velocity_ground_constraint.rs12
-rw-r--r--src/dynamics/solver/velocity_ground_constraint_wide.rs12
-rw-r--r--src_testbed/box2d_backend.rs2
-rw-r--r--src_testbed/nphysics_backend.rs2
10 files changed, 152 insertions, 12 deletions
diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index 9bae719..052d6cc 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -17,6 +17,7 @@ mod heightfield2;
mod joints2;
mod platform2;
mod pyramid2;
+mod restitution2;
mod sensor2;
fn demo_name_from_command_line() -> Option<String> {
@@ -58,6 +59,7 @@ pub fn main() {
("Joints", joints2::init_world),
("Platform", platform2::init_world),
("Pyramid", pyramid2::init_world),
+ ("Restitution", restitution2::init_world),
("Sensor", sensor2::init_world),
("(Debug) box ball", debug_box_ball2::init_world),
];
diff --git a/examples2d/restitution2.rs b/examples2d/restitution2.rs
new file mode 100644
index 0000000..fc97456
--- /dev/null
+++ b/examples2d/restitution2.rs
@@ -0,0 +1,56 @@
+use na::Point2;
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+ /*
+ * World
+ */
+ let mut bodies = RigidBodySet::new();
+ let mut colliders = ColliderSet::new();
+ let joints = JointSet::new();
+
+ /*
+ * Ground
+ */
+ let ground_size = 20.;
+ let ground_height = 1.0;
+
+ let rigid_body = RigidBodyBuilder::new_static()
+ .translation(0.0, -ground_height)
+ .build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cuboid(ground_size, ground_height)
+ .restitution(1.0)
+ .build();
+ colliders.insert(collider, handle, &mut bodies);
+
+ let num = 10;
+ let rad = 0.5;
+
+ for j in 0..2 {
+ for i in 0..=num {
+ let x = (i as f32) - num as f32 / 2.0;
+ let rigid_body = RigidBodyBuilder::new_dynamic()
+ .translation(x * 2.0, 10.0 * (j as f32 + 1.0))
+ .build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::ball(rad)
+ .restitution((i as f32) / (num as f32))
+ .build();
+ colliders.insert(collider, handle, &mut bodies);
+ }
+ }
+
+ /*
+ * Set up the testbed.
+ */
+ testbed.set_world(bodies, colliders, joints);
+ testbed.look_at(Point2::new(0.0, 1.0), 25.0);
+}
+
+fn main() {
+ let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+ testbed.run()
+}
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index eeb9736..2196605 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -23,6 +23,7 @@ mod joints3;
mod keva3;
mod platform3;
mod primitives3;
+mod restitution3;
mod sensor3;
mod stacks3;
mod trimesh3;
@@ -72,6 +73,7 @@ pub fn main() {
("Heightfield", heightfield3::init_world),
("Joints", joints3::init_world),
("Platform", platform3::init_world),
+ ("Restitution", restitution3::init_world),
("Stacks", stacks3::init_world),
("Sensor", sensor3::init_world),
("Trimesh", trimesh3::init_world),
diff --git a/examples3d/restitution3.rs b/examples3d/restitution3.rs
new file mode 100644
index 0000000..c8d4b28
--- /dev/null
+++ b/examples3d/restitution3.rs
@@ -0,0 +1,56 @@
+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+ /*
+ * World
+ */
+ let mut bodies = RigidBodySet::new();
+ let mut colliders = ColliderSet::new();
+ let joints = JointSet::new();
+
+ /*
+ * Ground
+ */
+ let ground_size = 20.;
+ let ground_height = 1.0;
+
+ let rigid_body = RigidBodyBuilder::new_static()
+ .translation(0.0, -ground_height, 0.0)
+ .build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cuboid(ground_size, ground_height, 2.0)
+ .restitution(1.0)
+ .build();
+ colliders.insert(collider, handle, &mut bodies);
+
+ let num = 10;
+ let rad = 0.5;
+
+ for j in 0..2 {
+ for i in 0..=num {
+ let x = (i as f32) - num as f32 / 2.0;
+ let rigid_body = RigidBodyBuilder::new_dynamic()
+ .translation(x * 2.0, 10.0 * (j as f32 + 1.0), 0.0)
+ .build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::ball(rad)
+ .restitution((i as f32) / (num as f32))
+ .build();
+ colliders.insert(collider, handle, &mut bodies);
+ }
+ }
+
+ /*
+ * Set up the testbed.
+ */
+ testbed.set_world(bodies, colliders, joints);
+ testbed.look_at(Point3::new(0.0, 3.0, 30.0), Point3::new(0.0, 3.0, 0.0));
+}
+
+fn main() {
+ let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+ testbed.run()
+}
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index 190076d..948081d 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -238,8 +238,13 @@ impl VelocityConstraint {
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
- let rhs = (vel1 - vel2).dot(&force_dir1)
- + manifold_point.dist.max(0.0) * params.inv_dt();
+ let mut rhs = (vel1 - vel2).dot(&force_dir1);
+
+ if rhs <= -params.restitution_velocity_threshold {
+ rhs += manifold.restitution * rhs
+ }
+
+ rhs += manifold_point.dist.max(0.0) * params.inv_dt();
let impulse = manifold_points[k].impulse * warmstart_coeff;
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs
index f515d5e..5d8078a 100644
--- a/src/dynamics/solver/velocity_constraint_wide.rs
+++ b/src/dynamics/solver/velocity_constraint_wide.rs
@@ -104,6 +104,10 @@ impl WVelocityConstraint {
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let friction = SimdFloat::from(array![|ii| manifolds[ii].friction; SIMD_WIDTH]);
+ let restitution = SimdFloat::from(array![|ii| manifolds[ii].restitution; SIMD_WIDTH]);
+ let restitution_velocity_threshold =
+ SimdFloat::splat(params.restitution_velocity_threshold);
+
let warmstart_multiplier =
SimdFloat::from(array![|ii| manifolds[ii].warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdFloat::splat(params.warmstart_coeff);
@@ -151,8 +155,11 @@ impl WVelocityConstraint {
let r = SimdFloat::splat(1.0)
/ (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2));
- let rhs =
- (vel1 - vel2).dot(&force_dir1) + dist.simd_max(SimdFloat::zero()) * inv_dt;
+ let mut rhs = (vel1 - vel2).dot(&force_dir1);
+ let use_restitution = rhs.simd_le(-restitution_velocity_threshold);
+ let rhs_with_restitution = rhs + rhs * restitution;
+ rhs = rhs_with_restitution.select(use_restitution, rhs);
+ rhs += dist.simd_max(SimdFloat::zero()) * inv_dt;
constraint.elements[k].normal_part = WVelocityConstraintElementPart {
gcross1,
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs
index d9229ff..d8ef8be 100644
--- a/src/dynamics/solver/velocity_ground_constraint.rs
+++ b/src/dynamics/solver/velocity_ground_constraint.rs
@@ -169,9 +169,15 @@ impl VelocityGroundConstraint {
.transform_vector(dp2.gcross(-force_dir1));
let r = 1.0 / (rb2.mass_properties.inv_mass + gcross2.gdot(gcross2));
- let rhs = -vel2.dot(&force_dir1)
- + vel1.dot(&force_dir1)
- + manifold_point.dist.max(0.0) * params.inv_dt();
+
+ let mut rhs = (vel1 - vel2).dot(&force_dir1);
+
+ if rhs <= -params.restitution_velocity_threshold {
+ rhs += manifold.restitution * rhs
+ }
+
+ rhs += manifold_point.dist.max(0.0) * params.inv_dt();
+
let impulse = manifold_points[k].impulse * warmstart_coeff;
constraint.elements[k].normal_part = VelocityGroundConstraintElementPart {
diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs
index 18e9257..be01944 100644
--- a/src/dynamics/solver/velocity_ground_constraint_wide.rs
+++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs
@@ -110,6 +110,10 @@ impl WVelocityGroundConstraint {
let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let friction = SimdFloat::from(array![|ii| manifolds[ii].friction; SIMD_WIDTH]);
+ let restitution = SimdFloat::from(array![|ii| manifolds[ii].restitution; SIMD_WIDTH]);
+ let restitution_velocity_threshold =
+ SimdFloat::splat(params.restitution_velocity_threshold);
+
let warmstart_multiplier =
SimdFloat::from(array![|ii| manifolds[ii].warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdFloat::splat(params.warmstart_coeff);
@@ -154,9 +158,11 @@ impl WVelocityGroundConstraint {
let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
let r = SimdFloat::splat(1.0) / (im2 + gcross2.gdot(gcross2));
- let rhs = -vel2.dot(&force_dir1)
- + vel1.dot(&force_dir1)
- + dist.simd_max(SimdFloat::zero()) * inv_dt;
+ let mut rhs = (vel1 - vel2).dot(&force_dir1);
+ let use_restitution = rhs.simd_le(-restitution_velocity_threshold);
+ let rhs_with_restitution = rhs + rhs * restitution;
+ rhs = rhs_with_restitution.select(use_restitution, rhs);
+ rhs += dist.simd_max(SimdFloat::zero()) * inv_dt;
constraint.elements[k].normal_part = WVelocityGroundConstraintElementPart {
gcross2,
diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs
index 769b12d..213819a 100644
--- a/src_testbed/box2d_backend.rs
+++ b/src_testbed/box2d_backend.rs
@@ -161,7 +161,7 @@ impl Box2dWorld {
let center = na_vec_to_b2_vec(collider.position_wrt_parent().translation.vector);
let mut fixture_def = b2::FixtureDef::new();
- fixture_def.restitution = 0.0;
+ fixture_def.restitution = collider.restitution;
fixture_def.friction = collider.friction;
fixture_def.density = collider.density();
fixture_def.is_sensor = collider.is_sensor();
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs
index 3a0e487..2896377 100644
--- a/src_testbed/nphysics_backend.rs
+++ b/src_testbed/nphysics_backend.rs
@@ -45,7 +45,7 @@ impl NPhysicsWorld {
let force_generators = DefaultForceGeneratorSet::new();
for (rapier_handle, rb) in bodies.iter() {
- // let material = physics.create_material(rb.collider.friction, rb.collider.friction, 0.0);
+ // let material = physics.create_material(rb.collider.friction, rb.collider.friction, 0.0);
let nphysics_rb = RigidBodyDesc::new().position(rb.position).build();
let nphysics_rb_handle = nphysics_bodies.insert(nphysics_rb);
generated by cgit (git 2.34.1) at 2026-02-03 07:54:41 +0000