From 3c85a6ac41397cf95199933c6a93909bc070a844 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Tue, 8 Sep 2020 21:18:17 +0200 Subject: Start implementing ray-casting. This adds a QueryPipeline structure responsible for scene queries. Currently this structure is able to perform a brute-force ray-cast. This commit also includes the beginning of implementation of a SIMD-based acceleration structure which will be used for these scene queries in the future. --- src/dynamics/rigid_body.rs | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) (limited to 'src/dynamics/rigid_body.rs') 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 { + &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) { 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; } } -- cgit From 7b8e322446ffa36e3f47078e23eb61ef423175dc Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 21 Sep 2020 10:43:20 +0200 Subject: Make kinematic bodies properly wake up dynamic bodies. --- src/dynamics/rigid_body.rs | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) (limited to 'src/dynamics/rigid_body.rs') diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index d32ea46..af1fb4a 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -181,10 +181,13 @@ impl RigidBody { } /// Wakes up this rigid body if it is sleeping. - pub fn wake_up(&mut self) { + /// + /// If `strong` is `true` then it is assured that the rigid-body will + /// remain awake during multiple subsequent timesteps. + pub fn wake_up(&mut self, strong: bool) { self.activation.sleeping = false; - if self.activation.energy == 0.0 && self.is_dynamic() { + if (strong || self.activation.energy == 0.0) && self.is_dynamic() { self.activation.energy = self.activation.threshold.abs() * 2.0; } } @@ -198,9 +201,18 @@ impl RigidBody { /// Is this rigid body sleeping? pub fn is_sleeping(&self) -> bool { + // TODO: should we: + // - return false for static bodies. + // - return true for non-sleeping dynamic bodies. + // - return true only for kinematic bodies with non-zero velocity? self.activation.sleeping } + /// Is the velocity of this body not zero? + pub fn is_moving(&self) -> bool { + !self.linvel.is_zero() || !self.angvel.is_zero() + } + fn integrate_velocity(&self, dt: f32) -> Isometry { let com = &self.position * self.mass_properties.local_com; let shift = Translation::from(com.coords); -- cgit