diff options
Diffstat (limited to 'src/geometry/narrow_phase.rs')
| -rw-r--r-- | src/geometry/narrow_phase.rs | 31 |
1 files changed, 27 insertions, 4 deletions
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 1452864..f754808 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -8,9 +8,10 @@ use crate::dynamics::{ RigidBodyType, }; use crate::geometry::{ - BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderHandle, ColliderPair, - ColliderSet, CollisionEvent, ContactData, ContactManifold, ContactManifoldData, ContactPair, - InteractionGraph, IntersectionPair, SolverContact, SolverFlags, TemporaryInteractionIndex, + BoundingVolume, BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderHandle, + ColliderPair, ColliderSet, CollisionEvent, ContactData, ContactManifold, ContactManifoldData, + ContactPair, InteractionGraph, IntersectionPair, SolverContact, SolverFlags, + TemporaryInteractionIndex, }; use crate::math::{Real, Vector}; use crate::pipeline::{ @@ -896,11 +897,33 @@ impl NarrowPhase { } let pos12 = co1.pos.inv_mul(&co2.pos); + + let effective_prediction_distance = if rb1.map(|rb| rb.is_soft_ccd_enabled()) == Some(true) || + rb2.map(|rb| rb.is_soft_ccd_enabled()) == Some(true) { + + let aabb1 = co1.compute_aabb(); + let aabb2 = co2.compute_aabb(); + + let linvel1 = rb1.map(|rb| *rb.linvel()).unwrap_or_default(); + let linvel2 = rb2.map(|rb| *rb.linvel()).unwrap_or_default(); + + if !aabb1.intersects(&aabb2) && !aabb1.intersects_moving_aabb(&aabb2, linvel2 - linvel1) { + pair.clear(); + break 'emit_events; + } + + + prediction_distance.max( + dt * (linvel1 - linvel2).norm()) + } else { + prediction_distance + }; + let _ = query_dispatcher.contact_manifolds( &pos12, &*co1.shape, &*co2.shape, - prediction_distance, + effective_prediction_distance, &mut pair.manifolds, &mut pair.workspace, ); |