diff options
Diffstat (limited to 'src')
85 files changed, 8148 insertions, 11508 deletions
diff --git a/src/counters/mod.rs b/src/counters/mod.rs index 4d4d05d..324696f 100644 --- a/src/counters/mod.rs +++ b/src/counters/mod.rs @@ -14,7 +14,7 @@ mod solver_counters; mod stages_counters; mod timer; -/// Aggregation of all the performances counters tracked by nphysics. +/// Aggregation of all the performances counters tracked by rapier. #[derive(Clone, Copy)] pub struct Counters { /// Whether thi counter is enabled or not. @@ -34,7 +34,7 @@ pub struct Counters { } impl Counters { - /// Create a new set of counters initialized to wero. + /// Create a new set of counters initialized to zero. pub fn new(enabled: bool) -> Self { Counters { enabled, diff --git a/src/data/coarena.rs b/src/data/coarena.rs index 124d85a..1f01c05 100644 --- a/src/data/coarena.rs +++ b/src/data/coarena.rs @@ -13,6 +13,14 @@ impl<T> Coarena<T> { Self { data: Vec::new() } } + pub fn iter(&self) -> impl Iterator<Item = (Index, &T)> { + self.data + .iter() + .enumerate() + .filter(|(_, elt)| elt.0 != u32::MAX) + .map(|(i, elt)| (Index::from_raw_parts(i as u32, elt.0), &elt.1)) + } + /// Gets a specific element from the coarena without specifying its generation number. /// /// It is strongly encouraged to use `Coarena::get` instead of this method because this method @@ -23,12 +31,12 @@ impl<T> Coarena<T> { /// Deletes an element for the coarena and returns its value. /// - /// We can't really remove an element from the coarena. So instead of actually removing - /// it, this method will reset the value to the given `removed_value`. + /// This method will reset the value to the given `removed_value`. pub fn remove(&mut self, index: Index, removed_value: T) -> Option<T> { let (i, g) = index.into_raw_parts(); let data = self.data.get_mut(i as usize)?; if g == data.0 { + data.0 = u32::MAX; // invalidate the generation number. Some(std::mem::replace(&mut data.1, removed_value)) } else { None diff --git a/src/data/graph.rs b/src/data/graph.rs index de958c3..2dc7fbf 100644 --- a/src/data/graph.rs +++ b/src/data/graph.rs @@ -644,19 +644,24 @@ impl<'a, E> Iterator for Edges<'a, E> { // For iterate_over, "both" is represented as None. // For reverse, "no" is represented as None. - let (iterate_over, reverse) = (None, Some(self.direction.opposite())); + let (iterate_over, _reverse) = (None, Some(self.direction.opposite())); if iterate_over.unwrap_or(Direction::Outgoing) == Direction::Outgoing { let i = self.next[0].index(); - if let Some(Edge { node, weight, next }) = self.edges.get(i) { + if let Some(Edge { + node: _node, + weight, + next, + }) = self.edges.get(i) + { self.next[0] = next[0]; return Some(EdgeReference { index: EdgeIndex(i as u32), - node: if reverse == Some(Direction::Outgoing) { - swap_pair(*node) - } else { - *node - }, + // node: if reverse == Some(Direction::Outgoing) { + // swap_pair(*node) + // } else { + // *node + // }, weight, }); } @@ -674,11 +679,11 @@ impl<'a, E> Iterator for Edges<'a, E> { return Some(EdgeReference { index: edge_index, - node: if reverse == Some(Direction::Incoming) { - swap_pair(*node) - } else { - *node - }, + // node: if reverse == Some(Direction::Incoming) { + // swap_pair(*node) + // } else { + // *node + // }, weight, }); } @@ -688,10 +693,10 @@ impl<'a, E> Iterator for Edges<'a, E> { } } -fn swap_pair<T>(mut x: [T; 2]) -> [T; 2] { - x.swap(0, 1); - x -} +// fn swap_pair<T>(mut x: [T; 2]) -> [T; 2] { +// x.swap(0, 1); +// x +// } impl<'a, E> Clone for Edges<'a, E> { fn clone(&self) -> Self { @@ -742,24 +747,11 @@ impl<N, E> IndexMut<EdgeIndex> for Graph<N, E> { } } -/// A “walker” object that can be used to step through the edge list of a node. -/// -/// Created with [`.detach()`](struct.Neighbors.html#method.detach). -/// -/// The walker does not borrow from the graph, so it lets you step through -/// neighbors or incident edges while also mutating graph weights, as -/// in the following example: -#[derive(Clone)] -pub struct WalkNeighbors { - skip_start: NodeIndex, - next: [EdgeIndex; 2], -} - /// Reference to a `Graph` edge. #[derive(Debug)] pub struct EdgeReference<'a, E: 'a> { index: EdgeIndex, - node: [NodeIndex; 2], + // node: [NodeIndex; 2], weight: &'a E, } diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index 4725319..d998eec 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -18,18 +18,6 @@ pub struct IntegrationParameters { /// to numerical instabilities. pub min_ccd_dt: Real, - /// The Error Reduction Parameter in `[0, 1]` is the proportion of - /// the positional error to be corrected at each time step (default: `0.2`). - pub erp: Real, - /// The Error Reduction Parameter for joints in `[0, 1]` is the proportion of - /// the positional error to be corrected at each time step (default: `0.2`). - pub joint_erp: Real, - /// Each cached impulse are multiplied by this coefficient in `[0, 1]` - /// when they are re-used to initialize the solver (default `1.0`). - pub warmstart_coeff: Real, - /// Correction factor to avoid large warmstart impulse after a strong impact (default `10.0`). - pub warmstart_correction_slope: Real, - /// 0-1: how much of the velocity to dampen out in the constraint solver? /// (default `1.0`). pub velocity_solve_fraction: Real, @@ -40,23 +28,21 @@ pub struct IntegrationParameters { /// If non-zero, you do not need the positional solver. /// A good non-zero value is around `0.2`. /// (default `0.0`). - pub velocity_based_erp: Real, + pub erp: Real, - /// Amount of penetration the engine wont attempt to correct (default: `0.005m`). + /// Amount of penetration the engine wont attempt to correct (default: `0.001m`). pub allowed_linear_error: Real, /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`). pub prediction_distance: Real, - /// Amount of angular drift of joint limits the engine wont - /// attempt to correct (default: `0.001rad`). - pub allowed_angular_error: Real, - /// Maximum linear correction during one step of the non-linear position solver (default: `0.2`). - pub max_linear_correction: Real, - /// Maximum angular correction during one step of the non-linear position solver (default: `0.2`). - pub max_angular_correction: Real, - /// Maximum number of iterations performed by the velocity constraints solver (default: `4`). + /// Maximum number of iterations performed to solve non-penetration and joint constraints (default: `4`). pub max_velocity_iterations: usize, - /// Maximum number of iterations performed by the position-based constraints solver (default: `1`). - pub max_position_iterations: usize, + /// Maximum number of iterations performed to solve friction constraints (default: `8`). + pub max_velocity_friction_iterations: usize, + /// Maximum number of iterations performed to remove the energy introduced by penetration corrections (default: `1`). + pub max_stabilization_iterations: usize, + /// If `false`, friction and non-penetration constraints will be solved in the same loop. Otherwise, + /// non-penetration constraints are solved first, and friction constraints are solved after (default: `true`). + pub interleave_restitution_and_friction_resolution: bool, /// Minimum number of dynamic bodies in each active island (default: `128`). pub min_island_size: usize, /// Maximum number of substeps performed by the solver (default: `1`). @@ -64,46 +50,6 @@ pub struct IntegrationParameters { } impl IntegrationParameters { - /// Creates a set of integration parameters with the given values. - #[deprecated = "Use `IntegrationParameters { dt: 60.0, ..Default::default() }` instead"] - pub fn new( - dt: Real, - erp: Real, - joint_erp: Real, - warmstart_coeff: Real, - allowed_linear_error: Real, - allowed_angular_error: Real, - max_linear_correction: Real, - max_angular_correction: Real, - prediction_distance: Real, - max_velocity_iterations: usize, - max_position_iterations: usize, - max_ccd_substeps: usize, - ) -> Self { - IntegrationParameters { - dt, - erp, - joint_erp, - warmstart_coeff, - allowed_linear_error, - allowed_angular_error, - max_linear_correction, - max_angular_correction, - prediction_distance, - max_velocity_iterations, - max_position_iterations, - max_ccd_substeps, - ..Default::default() - } - } - - /// The current time-stepping length. - #[inline(always)] - #[deprecated = "You can just read the `IntegrationParams::dt` value directly"] - pub fn dt(&self) -> Real { - self.dt - } - /// The inverse of the time-stepping length, i.e. the steps per seconds (Hz). /// /// This is zero if `self.dt` is zero. @@ -136,10 +82,10 @@ impl IntegrationParameters { } } - /// Convenience: `velocity_based_erp / dt` + /// Convenience: `erp / dt` #[inline] - pub(crate) fn velocity_based_erp_inv_dt(&self) -> Real { - self.velocity_based_erp * self.inv_dt() + pub(crate) fn erp_inv_dt(&self) -> Real { + self.erp * self.inv_dt() } } @@ -148,20 +94,14 @@ impl Default for IntegrationParameters { Self { dt: 1.0 / 60.0, min_ccd_dt: 1.0 / 60.0 / 100.0, - // multithreading_enabled: true, - erp: 0.2, - joint_erp: 0.2, velocity_solve_fraction: 1.0, - velocity_based_erp: 0.0, - warmstart_coeff: 1.0, - warmstart_correction_slope: 10.0, - allowed_linear_error: 0.005, + erp: 0.8, + allowed_linear_error: 0.001, // 0.005 prediction_distance: 0.002, - allowed_angular_error: 0.001, - max_linear_correction: 0.2, - max_angular_correction: 0.2, max_velocity_iterations: 4, - max_position_iterations: 1, + max_velocity_friction_iterations: 8, + max_stabilization_iterations: 1, + interleave_restitution_and_friction_resolution: true, // Enabling this makes a big difference for 2D stability. // FIXME: what is the optimal value for min_island_size? // It should not be too big so that we don't end up with // huge islands that don't fit in cache. diff --git a/src/dynamics/island_manager.rs b/src/dynamics/island_manager.rs index 10ac0f8..55b47c9 100644 --- a/src/dynamics/island_manager.rs +++ b/src/dynamics/island_manager.rs @@ -1,7 +1,7 @@ use crate::data::{BundleSet, ComponentSet, ComponentSetMut, ComponentSetOption}; use crate::dynamics::{ - JointSet, RigidBodyActivation, RigidBodyColliders, RigidBodyHandle, RigidBodyIds, - RigidBodyType, RigidBodyVelocity, + ImpulseJointSet, MultibodyJointSet, RigidBodyActivation, RigidBodyColliders, RigidBodyHandle, + RigidBodyIds, RigidBodyType, RigidBodyVelocity, }; use crate::geometry::{ColliderParent, NarrowPhase}; use crate::math::Real; @@ -175,7 +175,8 @@ impl IslandManager { bodies: &mut Bodies, colliders: &Colliders, narrow_phase: &NarrowPhase, - joints: &JointSet, + impulse_joints: &ImpulseJointSet, + multibody_joints: &MultibodyJointSet, min_island_size: usize, ) whe |