diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/rigid_body.rs | 18 | ||||
| -rw-r--r-- | src/geometry/collider.rs | 49 | ||||
| -rw-r--r-- | src/geometry/mod.rs | 6 | ||||
| -rw-r--r-- | src/geometry/waabb.rs | 93 | ||||
| -rw-r--r-- | src/lib.rs | 9 | ||||
| -rw-r--r-- | src/pipeline/mod.rs | 2 | ||||
| -rw-r--r-- | src/pipeline/query_pipeline.rs | 306 |
7 files changed, 473 insertions, 10 deletions
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index a2fcacc..d32ea46 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -137,6 +137,15 @@ impl RigidBody { crate::utils::inv(self.mass_properties.inv_mass) } + /// The predicted position of this rigid-body. + /// + /// If this rigid-body is kinematic this value is set by the `set_next_kinematic_position` + /// method and is used for estimating the kinematic body velocity at the next timestep. + /// For non-kinematic bodies, this value is currently unspecified. + pub fn predicted_position(&self) -> &Isometry<f32> { + &self.predicted_position + } + /// Adds a collider to this rigid-body. pub(crate) fn add_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) { let mass_properties = coll @@ -201,12 +210,17 @@ impl RigidBody { self.position = self.integrate_velocity(dt) * self.position; } - /// Sets the position of this rigid body. + /// Sets the position and `next_kinematic_position` of this rigid body. + /// + /// This will teleport the rigid-body to the specified position/orientation, + /// completely ignoring any physics rule. If this body is kinematic, this will + /// also set the next kinematic position to the same value, effectively + /// resetting to zero the next interpolated velocity of the kinematic body. pub fn set_position(&mut self, pos: Isometry<f32>) { self.position = pos; // TODO: update the predicted position for dynamic bodies too? - if self.is_static() { + if self.is_static() || self.is_kinematic() { self.predicted_position = pos; } } diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 2d55857..183446b 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -1,11 +1,12 @@ use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet}; use crate::geometry::{ Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Polygon, - Proximity, Triangle, Trimesh, + Proximity, Ray, RayIntersection, Triangle, Trimesh, }; use crate::math::{AngVector, Isometry, Point, Rotation, Vector}; use na::Point3; use ncollide::bounding_volume::{HasBoundingVolume, AABB}; +use ncollide::query::RayCast; use num::Zero; #[derive(Clone)] @@ -97,6 +98,46 @@ impl Shape { Shape::HeightField(heightfield) => heightfield.bounding_volume(position), } } + + /// Computes the first intersection point between a ray in this collider. + /// + /// Some shapes are not supported yet and will always return `None`. + /// + /// # Parameters + /// - `position`: the position of this shape. + /// - `ray`: the ray to cast. + /// - `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively + /// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `f32::MAX` for an unbounded ray. + pub fn cast_ray( + &self, + position: &Isometry<f32>, + ray: &Ray, + max_toi: f32, + ) -> Option<RayIntersection> { + match self { + Shape::Ball(ball) => ball.toi_and_normal_with_ray(position, ray, max_toi, true), + Shape::Polygon(_poly) => None, + Shape::Capsule(caps) => { + let pos = position * caps.transform_wrt_y(); + let caps = ncollide::shape::Capsule::new(caps.half_height(), caps.radius); + caps.toi_and_normal_with_ray(&pos, ray, max_toi, true) + } + Shape::Cuboid(cuboid) => cuboid.toi_and_normal_with_ray(position, ray, max_toi, true), + #[cfg(feature = "dim2")] + Shape::Triangle(triangle) => { + // This is not implemented yet in 2D. + None + } + #[cfg(feature = "dim3")] + Shape::Triangle(triangle) => { + triangle.toi_and_normal_with_ray(position, ray, max_toi, true) + } + Shape::Trimesh(_trimesh) => None, + Shape::HeightField(heightfield) => { + heightfield.toi_and_normal_with_ray(position, ray, max_toi, true) + } + } + } } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] @@ -353,6 +394,12 @@ impl ColliderBuilder { self } + /// Sets the restitution coefficient of the collider this builder will build. + pub fn restitution(mut self, restitution: f32) -> Self { + self.restitution = restitution; + self + } + /// Sets the density of the collider this builder will build. pub fn density(mut self, density: f32) -> Self { self.density = Some(density); diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs index 4f72778..5fcdf71 100644 --- a/src/geometry/mod.rs +++ b/src/geometry/mod.rs @@ -36,6 +36,10 @@ pub type AABB = ncollide::bounding_volume::AABB<f32>; pub type ContactEvent = ncollide::pipeline::ContactEvent<ColliderHandle>; /// Event triggered when a sensor collider starts or stop being in proximity with another collider (sensor or not). pub type ProximityEvent = ncollide::pipeline::ProximityEvent<ColliderHandle>; +/// A ray that can be cast against colliders. +pub type Ray = ncollide::query::Ray<f32>; +/// The intersection between a ray and a collider. +pub type RayIntersection = ncollide::query::RayIntersection<f32>; #[cfg(feature = "simd-is-enabled")] pub(crate) use self::ball::WBall; @@ -48,7 +52,6 @@ pub(crate) use self::contact_generator::{clip_segments, clip_segments_with_norma pub(crate) use self::narrow_phase::ContactManifoldIndex; #[cfg(feature = "dim3")] pub(crate) use self::polyhedron_feature3d::PolyhedronFace; -#[cfg(feature = "simd-is-enabled")] pub(crate) use self::waabb::WAABB; //pub(crate) use self::z_order::z_cmp_floats; @@ -75,6 +78,5 @@ mod proximity_detector; pub(crate) mod sat; pub(crate) mod triangle; mod trimesh; -#[cfg(feature = "simd-is-enabled")] mod waabb; //mod z_order; diff --git a/src/geometry/waabb.rs b/src/geometry/waabb.rs index c3853bc..702b5aa 100644 --- a/src/geometry/waabb.rs +++ b/src/geometry/waabb.rs @@ -1,15 +1,27 @@ #[cfg(feature = "serde-serialize")] use crate::math::DIM; -use crate::math::{Point, SimdBool, SimdFloat, SIMD_WIDTH}; +use crate::math::{Point, SIMD_WIDTH}; use ncollide::bounding_volume::AABB; -use simba::simd::{SimdPartialOrd, SimdValue}; +#[cfg(feature = "simd-is-enabled")] +use { + crate::math::{SimdBool, SimdFloat}, + simba::simd::{SimdPartialOrd, SimdValue}, +}; #[derive(Debug, Copy, Clone)] +#[cfg(feature = "simd-is-enabled")] pub(crate) struct WAABB { pub mins: Point<SimdFloat>, pub maxs: Point<SimdFloat>, } +#[derive(Debug, Copy, Clone)] +#[cfg(not(feature = "simd-is-enabled"))] +pub(crate) struct WAABB { + pub mins: [Point<f32>; SIMD_WIDTH], + pub maxs: [Point<f32>; SIMD_WIDTH], +} + #[cfg(feature = "serde-serialize")] impl serde::Serialize for WAABB { fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error> @@ -18,16 +30,24 @@ impl serde::Serialize for WAABB { { use serde::ser::SerializeStruct; + #[cfg(feature = "simd-is-enabled")] let mins: Point<[f32; SIMD_WIDTH]> = Point::from( self.mins .coords .map(|e| array![|ii| e.extract(ii); SIMD_WIDTH]), ); + #[cfg(feature = "simd-is-enabled")] let maxs: Point<[f32; SIMD_WIDTH]> = Point::from( self.maxs .coords .map(|e| array![|ii| e.extract(ii); SIMD_WIDTH]), ); + + #[cfg(not(feature = "simd-is-enabled"))] + let mins = self.mins; + #[cfg(not(feature = "simd-is-enabled"))] + let maxs = self.maxs; + let mut waabb = serializer.serialize_struct("WAABB", 2)?; waabb.serialize_field("mins", &mins)?; waabb.serialize_field("maxs", &maxs)?; @@ -52,6 +72,7 @@ impl<'de> serde::Deserialize<'de> for WAABB { ) } + #[cfg(feature = "simd-is-enabled")] fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error> where A: serde::de::SeqAccess<'de>, @@ -66,17 +87,36 @@ impl<'de> serde::Deserialize<'de> for WAABB { let maxs = Point::from(maxs.coords.map(|e| SimdFloat::from(e))); Ok(WAABB { mins, maxs }) } + + #[cfg(not(feature = "simd-is-enabled"))] + fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error> + where + A: serde::de::SeqAccess<'de>, + { + let mins = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; + let maxs = seq + .next_element()? + .ok_or_else(|| serde::de::Error::invalid_length(1, &self))?; + Ok(WAABB { mins, maxs }) + } } deserializer.deserialize_struct("WAABB", &["mins", "maxs"], Visitor {}) } } +#[cfg(feature = "simd-is-enabled")] impl WAABB { pub fn new(mins: Point<SimdFloat>, maxs: Point<SimdFloat>) -> Self { Self { mins, maxs } } + pub fn new_invalid() -> Self { + Self::splat(AABB::new_invalid()) + } + pub fn splat(aabb: AABB<f32>) -> Self { Self { mins: Point::splat(aabb.mins), @@ -103,6 +143,7 @@ impl WAABB { } } +#[cfg(feature = "simd-is-enabled")] impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB { fn from(aabbs: [AABB<f32>; SIMD_WIDTH]) -> Self { let mins = array![|ii| aabbs[ii].mins; SIMD_WIDTH]; @@ -114,3 +155,51 @@ impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB { } } } + +#[cfg(not(feature = "simd-is-enabled"))] +impl WAABB { + pub fn new_invalid() -> Self { + Self::splat(AABB::new_invalid()) + } + + pub fn splat(aabb: AABB<f32>) -> Self { + Self { + mins: [aabb.mins; SIMD_WIDTH], + maxs: [aabb.maxs; SIMD_WIDTH], + } + } + + #[cfg(feature = "dim2")] + pub fn intersects_lanewise(&self, other: &WAABB) -> [bool; SIMD_WIDTH] { + array![|ii| + self.mins[ii].x <= other.maxs[ii].x + && other.mins[ii].x <= self.maxs[ii].x + && self.mins[ii].y <= other.maxs[ii].y + && other.mins[ii].y <= self.maxs[ii].y + ; SIMD_WIDTH + ] + } + + #[cfg(feature = "dim3")] + pub fn intersects_lanewise(&self, other: &WAABB) -> [bool; SIMD_WIDTH] { + array![|ii| + self.mins[ii].x <= other.maxs[ii].x + && other.mins[ii].x <= self.maxs[ii].x + && self.mins[ii].y <= other.maxs[ii].y + && other.mins[ii].y <= self.maxs[ii].y + && self.mins[ii].z <= other.maxs[ii].z + && other.mins[ii].z <= self.maxs[ii].z + ; SIMD_WIDTH + ] + } +} + +#[cfg(not(feature = "simd-is-enabled"))] +impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB { + fn from(aabbs: [AABB<f32>; SIMD_WIDTH]) -> Self { + let mins = array![|ii| aabbs[ii].mins; SIMD_WIDTH]; + let maxs = array![|ii| aabbs[ii].maxs; SIMD_WIDTH]; + + WAABB { mins, maxs } + } +} @@ -44,7 +44,6 @@ macro_rules! enable_flush_to_zero( } ); -#[cfg(feature = "simd-is-enabled")] macro_rules! array( ($callback: expr; SIMD_WIDTH) => { { @@ -139,7 +138,6 @@ pub mod utils; #[cfg(feature = "dim2")] /// Math primitives used throughout Rapier. pub mod math { - #[cfg(feature = "simd-is-enabled")] pub use super::simd::*; use na::{Isometry2, Matrix2, Point2, Translation2, UnitComplex, Vector2, Vector3, U1, U2}; @@ -182,7 +180,6 @@ pub mod math { #[cfg(feature = "dim3")] /// Math primitives used throughout Rapier. pub mod math { - #[cfg(feature = "simd-is-enabled")] pub use super::simd::*; use na::{Isometry3, Matrix3, Point3, Translation3, UnitQuaternion, Vector3, Vector6, U3}; @@ -220,6 +217,12 @@ pub mod math { pub type SdpMatrix<N> = crate::utils::SdpMatrix3<N>; } +#[cfg(not(feature = "simd-is-enabled"))] +mod simd { + /// The number of lanes of a SIMD number. + pub const SIMD_WIDTH: usize = 4; +} + #[cfg(feature = "simd-is-enabled")] mod simd { #[allow(unused_imports)] diff --git a/src/pipeline/mod.rs b/src/pipeline/mod.rs index 6298d18..287de9d 100644 --- a/src/pipeline/mod.rs +++ b/src/pipeline/mod.rs @@ -3,7 +3,9 @@ pub use collision_pipeline::CollisionPipeline; pub use event_handler::{ChannelEventCollector, EventHandler}; pub use physics_pipeline::PhysicsPipeline; +pub use query_pipeline::QueryPipeline; mod collision_pipeline; mod event_handler; mod physics_pipeline; +mod query_pipeline; diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs new file mode 100644 index 0000000..15caaef --- /dev/null +++ b/src/pipeline/query_pipeline.rs @@ -0,0 +1,306 @@ +use crate::dynamics::RigidBodySet; +use crate::geometry::{Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, AABB, WAABB}; +use crate::math::{Point, Vector}; +use ncollide::bounding_volume::BoundingVolume; + +#[derive(Copy, Clone, Debug, PartialEq, Eq)] +struct NodeIndex { + index: u32, // Index of the addressed node in the `children` array. + lane: u8, // SIMD lane of the addressed node. +} + +impl NodeIndex { + fn new(index: u32, lane: u8) -> Self { + Self { index, lane } + } + + fn invalid() -> Self { + Self { + index: u32::MAX, + lane: 0, + } + } +} + +#[derive(Copy, Clone, Debug)] +struct WAABBHierarchyNodeChildren { + waabb: WAABB, + // Index of the children of the 4 nodes represented by self. + // If this is a leaf, it contains the proxy ids instead. + grand_children: [u32; 4], + parent: NodeIndex, + leaf: bool, // TODO: pack this with the NodexIndex.lane? +} + +#[derive(Copy, Clone, Debug, PartialEq, Eq)] +struct ColliderNodeIndex { + node: NodeIndex, + handle: ColliderHandle, // The collider handle. TODO: only set the collider generation here? +} + +impl ColliderNodeIndex { + fn invalid() -> Self { + Self { + node: NodeIndex::invalid(), + handle: ColliderSet::invalid_handle(), + } + } +} + +struct WAABBHierarchy { + children: Vec<WAABBHierarchyNodeChildren>, + dirty: Vec<bool>, // TODO: use a bitvec/Vob and check it does not break cross-platform determinism. + proxies: Vec<ColliderNodeIndex>, +} + +impl WAABBHierarchy { + pub fn new() -> Self { + WAABBHierarchy { + children: Vec::new(), + dirty: Vec::new(), + proxies: Vec::new(), + } + } + + pub fn clear_and_rebuild(&mut self, colliders: &ColliderSet) { + self.children.clear(); + self.dirty.clear(); + self.proxies.clear(); + + // Create proxies. + let mut indices = Vec::with_capacity(colliders.len()); + let mut proxies = vec![ColliderNodeIndex::invalid(); colliders.len()]; + for (handle, collider) in colliders.iter() { + let index = handle.into_raw_parts().0; + if proxies.len() < handle.into_raw_parts().0 { + proxies.resize(index + 1, ColliderNodeIndex::invalid()); + } + + proxies[index].handle = handle; + indices.push(index); + } + + // Compute AABBs. + let mut aabbs = vec![AABB::new_invalid(); proxies.len()]; + for (handle, collider) in colliders.iter() { + let index = handle.into_raw_parts().0; + let aabb = collider.compute_aabb(); + aabbs[index] = aabb; + } + + // Build the tree recursively. + let root_node = WAABBHierarchyNodeChildren { + waabb: WAABB::new_invalid(), + grand_children: [1; 4], + parent: NodeIndex::invalid(), + leaf: false, + }; + + self.children.push(root_node); + let root_id = NodeIndex::new(0, 0); + let (_, aabb) = self.do_recurse_build(&mut indices, &aabbs, root_id); + self.children[0].waabb = WAABB::splat(aabb); + } + + fn do_recurse_build( + &mut self, + indices: &mut [usize], + aabbs: &[AABB], + parent: NodeIndex, + ) -> (u32, AABB) { + // Leaf case. + if indices.len() <= 4 { + let my_id = self.children.len(); + let mut my_aabb = AABB::new_invalid(); + let mut leaf_aabbs = [AABB::new_invalid(); 4]; + let mut proxy_ids = [u32::MAX; 4]; + + for (k, id) in indices.iter().enumerate() { + my_aabb.merge(&aabbs[*id]); + leaf_aabbs[k] = aabbs[*id]; + proxy_ids[k] = *id as u32; + } + + let node = WAABBHierarchyNodeChildren { + waabb: WAABB::from(leaf_aabbs), + grand_children: proxy_ids, + parent, + leaf: true, + }; + + self.children.push(node); + return (my_id as u32, my_aabb); + } + + // Compute the center and variance along each dimension. + // In 3D we compute the variance to not-subdivide the dimension with lowest variance. + // Therefore variance computation is not needed in 2D because we only have 2 dimension + // to split in the first place. + let mut center = Point::origin(); + #[cfg(feature = "dim3")] + let mut variance = Vector::zeros(); + + let denom = 1.0 / (indices.len() as f32); + + for i in &*indices { + let coords = aabbs[*i].center().coords; + center += coords * denom; + #[cfg(feature = "dim3")] + { + variance += coords.component_mul(&coords) * denom; + } + } + + #[cfg(feature = "dim3")] + { + variance = variance - center.coords.component_mul(¢er.coords); + } + + // Find the axis with minimum variance. This is the axis along + // which we are **not** subdividing our set. + let mut subdiv_dims = [0, 1]; + #[cfg(feature = "dim3")] + { + let min = variance.imin(); + subdiv_dims[0] = (min + 1) % 3; + subdiv_dims[1] = (min + 2) % 3; + } + + // Split the set along the two subdiv_dims dimensions. + // TODO: should we split wrt. the median instead of the average? + // TODO: we should ensure each subslice contains at least 4 elements each (or less if + // indices has less than 16 elements in the first place. + let (left, right) = split_indices_wrt_dim(indices, &aabbs, subdiv_dims[0]); + let (left_bottom, left_top) = split_indices_wrt_dim(left, &aabbs, subdiv_dims[1]); + let (right_bottom, right_top) = split_indices_wrt_dim(right, &aabbs, subdiv_dims[1]); + + let node = WAABBHierarchyNodeChildren { + waabb: WAABB::new_invalid(), + grand_children: [0; 4], // Will be set after the recursive call + parent, + leaf: false, + }; + + let id = self.children.len() as u32; + self.children.push(node); + + // Recurse! + let a = self.do_recurse_build(left_bottom, aabbs, NodeIndex::new(id, 0)); + let b = self.do_recurse_build(left_top, aabbs, NodeIndex::new(id, 1)); + let c = self.do_recurse_build(right_bottom, aabbs, NodeIndex::new(id, 2)); + let d = self.do_recurse_build(right_top, aabbs, NodeIndex::new(id, 3)); + + // Now we know the indices of the grand-children. + self.children[id as usize].grand_children = [a.0, b.0, c.0, d.0]; + self.children[id as usize].waabb = WAABB::from([a.1, b.1, c.1, d.1]); + + // TODO: will this chain of .merged be properly optimized? + let my_aabb = a.1.merged(&b.1).merged(&c.1).merged(&c.1); + (id, my_aabb) + } +} + +fn split_indices_wrt_dim<'a>( + indices: &'a mut [usize], + aabbs: &[AABB], + dim: usize, +) -> (&'a mut [usize], &'a mut [usize]) { + let mut icurr = 0; + let mut ilast = indices.len() - 1; + + // The loop condition we can just do 0..indices.len() + // instead of the test icurr < ilast because we know + // we will iterate exactly once per index. + for _ in 0..indices.len() { + let i = indices[icurr]; + let center = aabbs[i].center(); + + if center[dim] > center[dim] { + indices.swap(icurr, ilast); + ilast -= 1; + } else { + icurr += 1; + } + } + + indices.split_at_mut(icurr) +} + +/// A pipeline for performing queries on all the colliders of a scene. +pub struct QueryPipeline { + // hierarchy: WAABBHierarchy, +} + +impl Default for QueryPipeline { + fn default() -> Self { + Self::new() + } +} + +impl QueryPipeline { + /// Initializes an empty query pipeline. + pub fn new() -> Self { + Self { + // hierarchy: WAABBHierarchy::new(), + } + } + + /// Update the acceleration structure on the query pipeline. + pub fn update(&mut self, _bodies: &mut RigidBodySet, _colliders: &mut ColliderSet) {} + + /// Find the closest intersection between a ray and a set of collider. + /// + /// # Parameters + /// - `position`: the position of this shape. + /// - `ray`: the ray to cast. + /// - `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively + /// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `f32::MAX` for an unbounded ray. + pub fn cast_ray<'a>( + &self, + colliders: &'a ColliderSet, + ray: &Ray, + max_toi: f32, + ) -> Option<(ColliderHandle, &'a Collider, RayIntersection)> { + let mut best = f32::MAX; + let mut result = None; + + // FIXME: this is a brute-force approach. + for (handle, collider) in colliders.iter() { + if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) { + if inter.toi < best { + best = inter.toi; + result = Some((handle, collider, inter)); + } + } + } + + result + } + + /// Find the all intersections between a ray and a set of collider and passes them to a callback. + /// + /// # Parameters + /// - `position`: the position of this shape. + /// - `ray`: the ray to cast. + /// - `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively + /// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `f32::MAX` for an unbounded ray. + /// - `callback`: function executed on each collider for which a ray intersection has been found. + /// There is no guarantees on the order the results will be yielded. If this callback returns `false`, + /// this method will exit early, ignory any further raycast. + pub fn interferences_with_ray<'a>( + &self, + colliders: &'a ColliderSet, + ray: &Ray, + max_toi: f32, + mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool, + ) { + // FIXME: this is a brute-force approach. + for (handle, collider) in colliders.iter() { + if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) { + if !callback(handle, collider, inter) { + return; + } + } + } + } +} |