From e231bacec608fa5efd24f7a876572927dbd6c9c4 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 17 Dec 2020 10:24:36 +0100 Subject: Move all the contact manifold computations out of Rapier. --- .../ball_ball_contact_generator.rs | 103 ---------- .../ball_convex_contact_generator.rs | 70 ------- .../ball_polygon_contact_generator.rs | 1 - .../capsule_capsule_contact_generator.rs | 202 ------------------ .../contact_generator/contact_dispatcher.rs | 141 ------------- .../contact_generator/contact_generator.rs | 228 --------------------- .../contact_generator_workspace.rs | 104 ---------- .../cuboid_capsule_contact_generator.rs | 190 ----------------- .../cuboid_cuboid_contact_generator.rs | 156 -------------- .../cuboid_polygon_contact_generator.rs | 1 - .../cuboid_triangle_contact_generator.rs | 171 ---------------- .../heightfield_shape_contact_generator.rs | 190 ----------------- src/geometry/contact_generator/mod.rs | 51 ----- .../contact_generator/pfm_pfm_contact_generator.rs | 146 ------------- .../polygon_polygon_contact_generator.rs | 156 -------------- .../serializable_workspace_tag.rs | 9 - .../trimesh_shape_contact_generator.rs | 221 -------------------- .../voxels_shape_contact_generator.rs | 0 18 files changed, 2140 deletions(-) delete mode 100644 src/geometry/contact_generator/ball_ball_contact_generator.rs delete mode 100644 src/geometry/contact_generator/ball_convex_contact_generator.rs delete mode 100644 src/geometry/contact_generator/ball_polygon_contact_generator.rs delete mode 100644 src/geometry/contact_generator/capsule_capsule_contact_generator.rs delete mode 100644 src/geometry/contact_generator/contact_dispatcher.rs delete mode 100644 src/geometry/contact_generator/contact_generator.rs delete mode 100644 src/geometry/contact_generator/contact_generator_workspace.rs delete mode 100644 src/geometry/contact_generator/cuboid_capsule_contact_generator.rs delete mode 100644 src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs delete mode 100644 src/geometry/contact_generator/cuboid_polygon_contact_generator.rs delete mode 100644 src/geometry/contact_generator/cuboid_triangle_contact_generator.rs delete mode 100644 src/geometry/contact_generator/heightfield_shape_contact_generator.rs delete mode 100644 src/geometry/contact_generator/mod.rs delete mode 100644 src/geometry/contact_generator/pfm_pfm_contact_generator.rs delete mode 100644 src/geometry/contact_generator/polygon_polygon_contact_generator.rs delete mode 100644 src/geometry/contact_generator/serializable_workspace_tag.rs delete mode 100644 src/geometry/contact_generator/trimesh_shape_contact_generator.rs delete mode 100644 src/geometry/contact_generator/voxels_shape_contact_generator.rs (limited to 'src/geometry/contact_generator') diff --git a/src/geometry/contact_generator/ball_ball_contact_generator.rs b/src/geometry/contact_generator/ball_ball_contact_generator.rs deleted file mode 100644 index f2ca7af..0000000 --- a/src/geometry/contact_generator/ball_ball_contact_generator.rs +++ /dev/null @@ -1,103 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Contact, ContactManifoldData, KinematicsCategory}; -use crate::math::{Point, Vector}; -#[cfg(feature = "simd-is-enabled")] -use { - crate::geometry::contact_generator::PrimitiveContactGenerationContextSimd, - crate::geometry::{WBall, WContact}, - crate::math::{Isometry, SimdReal, SIMD_WIDTH}, - simba::simd::SimdValue, -}; - -#[cfg(feature = "simd-is-enabled")] -fn generate_contacts_simd(ball1: &WBall, ball2: &WBall, pos21: &Isometry) -> WContact { - let dcenter = ball2.center - ball1.center; - let center_dist = dcenter.magnitude(); - let normal = dcenter / center_dist; - - WContact { - local_p1: ball1.center + normal * ball1.radius, - local_p2: pos21 * (ball2.center - normal * ball2.radius), - local_n1: normal, - local_n2: pos21 * -normal, - fid1: [0; SIMD_WIDTH], - fid2: [0; SIMD_WIDTH], - dist: center_dist - ball1.radius - ball2.radius, - } -} - -#[cfg(feature = "simd-is-enabled")] -pub fn generate_contacts_ball_ball_simd(ctxt: &mut PrimitiveContactGenerationContextSimd) { - let pos_ba = ctxt.positions2.inverse() * ctxt.positions1; - let radii_a = - SimdReal::from(array![|ii| ctxt.shapes1[ii].as_ball().unwrap().radius; SIMD_WIDTH]); - let radii_b = - SimdReal::from(array![|ii| ctxt.shapes2[ii].as_ball().unwrap().radius; SIMD_WIDTH]); - - let wball_a = WBall::new(Point::origin(), radii_a); - let wball_b = WBall::new(pos_ba.inverse_transform_point(&Point::origin()), radii_b); - let contacts = generate_contacts_simd(&wball_a, &wball_b, &pos_ba); - - for (i, manifold) in ctxt.manifolds.iter_mut().enumerate() { - // FIXME: compare the dist before extracting the contact. - let (contact, local_n1, local_n2) = contacts.extract(i); - if contact.dist <= ctxt.prediction_distance { - if manifold.points.len() != 0 { - manifold.points[0].copy_geometry_from(contact); - } else { - manifold.points.push(contact); - } - - manifold.local_n1 = local_n1; - manifold.local_n2 = local_n2; - manifold.kinematics.category = KinematicsCategory::PointPoint; - manifold.kinematics.radius1 = radii_a.extract(i); - manifold.kinematics.radius2 = radii_b.extract(i); - ContactManifoldData::update_warmstart_multiplier(manifold); - } else { - manifold.points.clear(); - } - - manifold.sort_contacts(ctxt.prediction_distance); - } -} - -pub fn generate_contacts_ball_ball(ctxt: &mut PrimitiveContactGenerationContext) { - let pos_ba = ctxt.position2.inverse() * ctxt.position1; - let radius_a = ctxt.shape1.as_ball().unwrap().radius; - let radius_b = ctxt.shape2.as_ball().unwrap().radius; - - let dcenter = pos_ba.inverse_transform_point(&Point::origin()).coords; - let center_dist = dcenter.magnitude(); - let dist = center_dist - radius_a - radius_b; - - if dist < ctxt.prediction_distance { - let local_n1 = if center_dist != 0.0 { - dcenter / center_dist - } else { - Vector::y() - }; - - let local_n2 = pos_ba.inverse_transform_vector(&-local_n1); - let local_p1 = local_n1 * radius_a; - let local_p2 = local_n2 * radius_b; - let contact = Contact::new(local_p1.into(), local_p2.into(), 0, 0, dist); - - if ctxt.manifold.points.len() != 0 { - ctxt.manifold.points[0].copy_geometry_from(contact); - } else { - ctxt.manifold.points.push(contact); - } - - ctxt.manifold.local_n1 = local_n1; - ctxt.manifold.local_n2 = local_n2; - ctxt.manifold.kinematics.category = KinematicsCategory::PointPoint; - ctxt.manifold.kinematics.radius1 = radius_a; - ctxt.manifold.kinematics.radius2 = radius_b; - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - } else { - ctxt.manifold.points.clear(); - } - - ctxt.manifold.sort_contacts(ctxt.prediction_distance); -} diff --git a/src/geometry/contact_generator/ball_convex_contact_generator.rs b/src/geometry/contact_generator/ball_convex_contact_generator.rs deleted file mode 100644 index 88f1912..0000000 --- a/src/geometry/contact_generator/ball_convex_contact_generator.rs +++ /dev/null @@ -1,70 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Ball, Contact, ContactManifoldData, KinematicsCategory}; -use crate::math::Isometry; -use buckler::query::PointQuery; -use na::Unit; - -pub fn generate_contacts_ball_convex(ctxt: &mut PrimitiveContactGenerationContext) { - if let Some(ball1) = ctxt.shape1.as_ball() { - ctxt.manifold.swap_identifiers(); - do_generate_contacts(ctxt.shape2, ball1, ctxt, true); - } else if let Some(ball2) = ctxt.shape2.as_ball() { - do_generate_contacts(ctxt.shape1, ball2, ctxt, false); - } - - ctxt.manifold.sort_contacts(ctxt.prediction_distance); -} - -fn do_generate_contacts( - point_query1: &P, - ball2: &Ball, - ctxt: &mut PrimitiveContactGenerationContext, - swapped: bool, -) { - let position1; - let position2; - - if swapped { - position1 = ctxt.position2; - position2 = ctxt.position1; - } else { - position1 = ctxt.position1; - position2 = ctxt.position2; - } - - let local_p2_1 = position1.inverse_transform_point(&position2.translation.vector.into()); - let proj = point_query1.project_local_point(&local_p2_1, cfg!(feature = "dim3")); - let dpos = local_p2_1 - proj.local_point; - - #[allow(unused_mut)] // Because `mut local_n1, mut dist` is needed in 2D but not in 3D. - if let Some((mut local_n1, mut dist)) = Unit::try_new_and_get(dpos, 0.0) { - #[cfg(feature = "dim2")] - if proj.is_inside { - local_n1 = -local_n1; - dist = -dist; - } - - if dist <= ball2.radius + ctxt.prediction_distance { - let local_n2 = position2.inverse_transform_vector(&(position1 * -*local_n1)); - let local_p2 = (local_n2 * ball2.radius).into(); - let contact_point = Contact::new(proj.local_point, local_p2, 0, 0, dist - ball2.radius); - - if ctxt.manifold.points.len() != 1 { - ctxt.manifold.points.clear(); - ctxt.manifold.points.push(contact_point); - } else { - // Copy only the geometry so we keep the warmstart impulses. - ctxt.manifold.points[0].copy_geometry_from(contact_point); - } - - ctxt.manifold.local_n1 = *local_n1; - ctxt.manifold.local_n2 = local_n2; - ctxt.manifold.kinematics.category = KinematicsCategory::PlanePoint; - ctxt.manifold.kinematics.radius1 = 0.0; - ctxt.manifold.kinematics.radius2 = ball2.radius; - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - } else { - ctxt.manifold.points.clear(); - } - } -} diff --git a/src/geometry/contact_generator/ball_polygon_contact_generator.rs b/src/geometry/contact_generator/ball_polygon_contact_generator.rs deleted file mode 100644 index 8b13789..0000000 --- a/src/geometry/contact_generator/ball_polygon_contact_generator.rs +++ /dev/null @@ -1 +0,0 @@ - diff --git a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs b/src/geometry/contact_generator/capsule_capsule_contact_generator.rs deleted file mode 100644 index 9090b36..0000000 --- a/src/geometry/contact_generator/capsule_capsule_contact_generator.rs +++ /dev/null @@ -1,202 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Capsule, Contact, ContactManifold, ContactManifoldData, KinematicsCategory}; -use crate::math::Isometry; -use crate::math::Vector; -use approx::AbsDiffEq; -#[cfg(feature = "dim2")] -use buckler::shape::SegmentPointLocation; -use na::Unit; - -pub fn generate_contacts_capsule_capsule(ctxt: &mut PrimitiveContactGenerationContext) { - if let (Some(capsule1), Some(capsule2)) = (ctxt.shape1.as_capsule(), ctxt.shape2.as_capsule()) { - generate_contacts( - ctxt.prediction_distance, - capsule1, - ctxt.position1, - capsule2, - ctxt.position2, - ctxt.manifold, - ); - } - - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - ctxt.manifold.sort_contacts(ctxt.prediction_distance); -} - -#[cfg(feature = "dim2")] -pub fn generate_contacts<'a>( - prediction_distance: f32, - capsule1: &'a Capsule, - pos1: &'a Isometry, - capsule2: &'a Capsule, - pos2: &'a Isometry, - manifold: &mut ContactManifold, -) { - // FIXME: the contact kinematics is not correctly set here. - // We use the common "Point-Plane" kinematics with zero radius everytime. - // Instead we should select point/point ore point-plane (with non-zero - // radius for the point) depending on the features involved in the contact. - let pos12 = pos1.inverse() * pos2; - let pos21 = pos12.inverse(); - - let seg1 = capsule1.segment; - let seg2_1 = capsule2.segment.transformed(&pos12); - let (loc1, loc2) = buckler::query::details::closest_points_segment_segment_with_locations_nD( - (&seg1.a, &seg1.b), - (&seg2_1.a, &seg2_1.b), - ); - - // We do this clone to perform contact tracking and transfer impulses. - // FIXME: find a more efficient way of doing this. - let old_manifold_points = manifold.points.clone(); - manifold.points.clear(); - - let swapped = false; - - let fid1 = if let SegmentPointLocation::OnVertex(v1) = loc1 { - v1 as u8 * 2 - } else { - 1 - }; - let fid2 = if let SegmentPointLocation::OnVertex(v2) = loc2 { - v2 as u8 * 2 - } else { - 1 - }; - - let bcoords1 = loc1.barycentric_coordinates(); - let bcoords2 = loc2.barycentric_coordinates(); - let local_p1 = seg1.a * bcoords1[0] + seg1.b.coords * bcoords1[1]; - let local_p2 = seg2_1.a * bcoords2[0] + seg2_1.b.coords * bcoords2[1]; - - let local_n1 = - Unit::try_new(local_p2 - local_p1, f32::default_epsilon()).unwrap_or(Vector::y_axis()); - let dist = (local_p2 - local_p1).dot(&local_n1) - capsule1.radius - capsule2.radius; - - if dist <= prediction_distance { - let local_n2 = pos21 * -local_n1; - let contact = Contact::new(local_p1, pos21 * local_p2, fid1, fid2, dist); - manifold.points.push(contact); - - manifold.local_n1 = *local_n1; - manifold.local_n2 = *local_n2; - manifold.kinematics.category = KinematicsCategory::PlanePoint; - manifold.kinematics.radius1 = 0.0; - manifold.kinematics.radius2 = 0.0; - } else { - // No contact within tolerance. - return; - } - - if let (Some(dir1), Some(dir2)) = (seg1.direction(), seg2_1.direction()) { - if dir1.dot(&dir2).abs() >= crate::utils::COS_FRAC_PI_8 - && dir1.dot(&local_n1).abs() < crate::utils::SIN_FRAC_PI_8 - { - // Capsules axes are almost parallel and are almost perpendicular to the normal. - // Find a second contact point. - if let Some((clip_a, clip_b)) = - buckler::query::details::clip_segment_segment_with_normal( - (seg1.a, seg1.b), - (seg2_1.a, seg2_1.b), - *local_n1, - ) - { - let contact = - if (clip_a.0 - local_p1).norm_squared() > f32::default_epsilon() * 100.0 { - // Use clip_a as the second contact. - Contact::new( - clip_a.0, - pos21 * clip_a.1, - clip_a.2 as u8, - clip_a.3 as u8, - (clip_a.1 - clip_a.0).dot(&local_n1), - ) - } else { - // Use clip_b as the second contact. - Contact::new( - clip_b.0, - pos21 * clip_b.1, - clip_b.2 as u8, - clip_b.3 as u8, - (clip_b.1 - clip_b.0).dot(&local_n1), - ) - }; - - manifold.points.push(contact); - } - } - } - - if swapped { - for point in &mut manifold.points { - point.local_p1 += manifold.local_n1 * capsule2.radius; - point.local_p2 += manifold.local_n2 * capsule1.radius; - point.dist -= capsule1.radius + capsule2.radius; - } - } else { - for point in &mut manifold.points { - point.local_p1 += manifold.local_n1 * capsule1.radius; - point.local_p2 += manifold.local_n2 * capsule2.radius; - point.dist -= capsule1.radius + capsule2.radius; - } - } - - manifold.match_contacts(&old_manifold_points, swapped); -} - -#[cfg(feature = "dim3")] -pub fn generate_contacts<'a>( - prediction_distance: f32, - capsule1: &'a Capsule, - pos1: &'a Isometry, - capsule2: &'a Capsule, - pos2: &'a Isometry, - manifold: &mut ContactManifold, -) { - let pos12 = pos1.inverse() * pos2; - let pos21 = pos12.inverse(); - - let seg1 = capsule1.segment; - let seg2_1 = capsule2.segment.transformed(&pos12); - let (loc1, loc2) = - buckler::query::closest_points::closest_points_segment_segment_with_locations_nD( - (&seg1.a, &seg1.b), - (&seg2_1.a, &seg2_1.b), - ); - - { - let bcoords1 = loc1.barycentric_coordinates(); - let bcoords2 = loc2.barycentric_coordinates(); - let local_p1 = seg1.a * bcoords1[0] + seg1.b.coords * bcoords1[1]; - let local_p2 = seg2_1.a * bcoords2[0] + seg2_1.b.coords * bcoords2[1]; - - let local_n1 = - Unit::try_new(local_p2 - local_p1, f32::default_epsilon()).unwrap_or(Vector::y_axis()); - let dist = (local_p2 - local_p1).dot(&local_n1) - capsule1.radius - capsule2.radius; - - if dist <= prediction_distance { - let local_n2 = pos21 * -local_n1; - let contact = Contact::new( - local_p1 + *local_n1 * capsule1.radius, - pos21 * local_p2 + *local_n2 * capsule2.radius, - 0, - 0, - dist, - ); - - if manifold.points.len() != 0 { - manifold.points[0].copy_geometry_from(contact); - } else { - manifold.points.push(contact); - } - - manifold.local_n1 = *local_n1; - manifold.local_n2 = *local_n2; - manifold.kinematics.category = KinematicsCategory::PlanePoint; - manifold.kinematics.radius1 = 0.0; - manifold.kinematics.radius2 = 0.0; - } else { - manifold.points.clear(); - } - } -} diff --git a/src/geometry/contact_generator/contact_dispatcher.rs b/src/geometry/contact_generator/contact_dispatcher.rs deleted file mode 100644 index 9b247f3..0000000 --- a/src/geometry/contact_generator/contact_dispatcher.rs +++ /dev/null @@ -1,141 +0,0 @@ -#[cfg(feature = "dim3")] -use crate::geometry::contact_generator::PfmPfmContactManifoldGeneratorWorkspace; -use crate::geometry::contact_generator::{ - ContactGenerator, ContactGeneratorWorkspace, ContactPhase, - HeightFieldShapeContactGeneratorWorkspace, PrimitiveContactGenerator, - TriMeshShapeContactGeneratorWorkspace, -}; -use buckler::shape::ShapeType; - -/// Trait implemented by structures responsible for selecting a collision-detection algorithm -/// for a given pair of shapes. -pub trait ContactDispatcher { - /// Select the collision-detection algorithm for the given pair of primitive shapes. - fn dispatch_primitives( - &self, - shape1: ShapeType, - shape2: ShapeType, - ) -> (PrimitiveContactGenerator, Option); - /// Select the collision-detection algorithm for the given pair of non-primitive shapes. - fn dispatch( - &self, - shape1: ShapeType, - shape2: ShapeType, - ) -> (ContactPhase, Option); -} - -/// The default contact dispatcher used by Rapier. -pub struct DefaultContactDispatcher; - -impl ContactDispatcher for DefaultContactDispatcher { - fn dispatch_primitives( - &self, - shape1: ShapeType, - shape2: ShapeType, - ) -> (PrimitiveContactGenerator, Option) { - match (shape1, shape2) { - (ShapeType::Ball, ShapeType::Ball) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_ball_ball, - #[cfg(feature = "simd-is-enabled")] - generate_contacts_simd: super::generate_contacts_ball_ball_simd, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (ShapeType::Cuboid, ShapeType::Cuboid) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_cuboid_cuboid, - ..PrimitiveContactGenerator::default() - }, - None, - ), - // (ShapeType::Polygon, ShapeType::Polygon) => ( - // PrimitiveContactGenerator { - // generate_contacts: super::generate_contacts_polygon_polygon, - // ..PrimitiveContactGenerator::default() - // }, - // None, - // ), - (ShapeType::Capsule, ShapeType::Capsule) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_capsule_capsule, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (_, ShapeType::Ball) | (ShapeType::Ball, _) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_ball_convex, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (ShapeType::Capsule, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Capsule) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_cuboid_capsule, - ..PrimitiveContactGenerator::default() - }, - None, - ), - (ShapeType::Triangle, ShapeType::Cuboid) | (ShapeType::Cuboid, ShapeType::Triangle) => { - ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_cuboid_triangle, - ..PrimitiveContactGenerator::default() - }, - None, - ) - } - #[cfg(feature = "dim3")] - (ShapeType::Cylinder, _) - | (_, ShapeType::Cylinder) - | (ShapeType::Cone, _) - | (_, ShapeType::Cone) - | (ShapeType::RoundCylinder, _) - | (_, ShapeType::RoundCylinder) - | (ShapeType::Capsule, _) - | (_, ShapeType::Capsule) => ( - PrimitiveContactGenerator { - generate_contacts: super::generate_contacts_pfm_pfm, - ..PrimitiveContactGenerator::default() - }, - Some(ContactGeneratorWorkspace::from( - PfmPfmContactManifoldGeneratorWorkspace::default(), - )), - ), - _ => (PrimitiveContactGenerator::default(), None), - } - } - - fn dispatch( - &self, - shape1: ShapeType, - shape2: ShapeType, - ) -> (ContactPhase, Option) { - match (shape1, shape2) { - (ShapeType::TriMesh, _) | (_, ShapeType::TriMesh) => ( - ContactPhase::NearPhase(ContactGenerator { - generate_contacts: super::generate_contacts_trimesh_shape, - ..ContactGenerator::default() - }), - Some(ContactGeneratorWorkspace::from( - TriMeshShapeContactGeneratorWorkspace::new(), - )), - ), - (ShapeType::HeightField, _) | (_, ShapeType::HeightField) => ( - ContactPhase::NearPhase(ContactGenerator { - generate_contacts: super::generate_contacts_heightfield_shape, - ..ContactGenerator::default() - }), - Some(ContactGeneratorWorkspace::from( - HeightFieldShapeContactGeneratorWorkspace::new(), - )), - ), - _ => { - let (gen, workspace) = self.dispatch_primitives(shape1, shape2); - (ContactPhase::ExactPhase(gen), workspace) - } - } - } -} diff --git a/src/geometry/contact_generator/contact_generator.rs b/src/geometry/contact_generator/contact_generator.rs deleted file mode 100644 index 06ab265..0000000 --- a/src/geometry/contact_generator/contact_generator.rs +++ /dev/null @@ -1,228 +0,0 @@ -use crate::data::MaybeSerializableData; -use crate::geometry::{ - Collider, ColliderSet, ContactDispatcher, ContactEvent, ContactManifold, ContactPair, Shape, - ShapeType, SolverFlags, -}; -use crate::math::Isometry; -#[cfg(feature = "simd-is-enabled")] -use crate::math::{SimdReal, SIMD_WIDTH}; -use crate::pipeline::EventHandler; - -#[derive(Copy, Clone)] -pub enum ContactPhase { - NearPhase(ContactGenerator), - ExactPhase(PrimitiveContactGenerator), -} - -impl ContactPhase { - #[inline] - pub fn generate_contacts( - self, - mut context: ContactGenerationContext, - events: &dyn EventHandler, - ) { - let had_contacts_before = context.pair.has_any_active_contact(); - - match self { - Self::NearPhase(gen) => (gen.generate_contacts)(&mut context), - Self::ExactPhase(gen) => { - // Build the primitive context from the non-primitive context and dispatch. - let (collider1, collider2, manifold, workspace) = context - .pair - .single_manifold(context.colliders, context.solver_flags); - let mut context2 = PrimitiveContactGenerationContext { - prediction_distance: context.prediction_distance, - collider1, - collider2, - shape1: collider1.shape(), - shape2: collider2.shape(), - position1: collider1.position(), - position2: collider2.position(), - manifold, - workspace, - }; - - (gen.generate_contacts)(&mut context2) - } - } - - if had_contacts_before != context.pair.has_any_active_contact() { - if had_contacts_before { - events.handle_contact_event(ContactEvent::Stopped( - context.pair.pair.collider1, - context.pair.pair.collider2, - )); - } else { - events.handle_contact_event(ContactEvent::Started( - context.pair.pair.collider1, - context.pair.pair.collider2, - )) - } - } - } - - #[cfg(feature = "simd-is-enabled")] - #[inline] - pub fn generate_contacts_simd( - self, - mut context: ContactGenerationContextSimd, - events: &dyn EventHandler, - ) { - let mut had_contacts_before = [false; SIMD_WIDTH]; - - for (i, pair) in context.pairs.iter().enumerate() { - had_contacts_before[i] = pair.has_any_active_contact() - } - - match self { - Self::NearPhase(gen) => (gen.generate_contacts_simd)(&mut context), - Self::ExactPhase(gen) => { - // Build the primitive context from the non-primitive context and dispatch. - use arrayvec::ArrayVec; - let mut colliders_arr: ArrayVec<[(&Collider, &Collider); SIMD_WIDTH]> = - ArrayVec::new(); - let mut manifold_arr: ArrayVec<[&mut ContactManifold; SIMD_WIDTH]> = - ArrayVec::new(); - let mut workspace_arr: ArrayVec< - [Option<&mut (dyn MaybeSerializableData)>; SIMD_WIDTH], - > = ArrayVec::new(); - - for (pair, solver_flags) in - context.pairs.iter_mut().zip(context.solver_flags.iter()) - { - let (collider1, collider2, manifold, workspace) = - pair.single_manifold(context.colliders, *solver_flags); - colliders_arr.push((collider1, collider2)); - manifold_arr.push(manifold); - workspace_arr.push(workspace); - } - - let max_index = colliders_arr.len() - 1; - let colliders1 = array![|ii| colliders_arr[ii.min(max_index)].0; SIMD_WIDTH]; - let colliders2 = array![|ii| colliders_arr[ii.min(max_index)].1; SIMD_WIDTH]; - - let mut context2 = PrimitiveContactGenerationContextSimd { - prediction_distance: context.prediction_distance, - colliders1, - colliders2, - shapes1: array![|ii| colliders1[ii].shape(); SIMD_WIDTH], - shapes2: array![|ii| colliders2[ii].shape(); SIMD_WIDTH], - positions1: &Isometry::from( - array![|ii| *colliders1[ii].position(); SIMD_WIDTH], - ), - positions2: &Isometry::from( - array![|ii| *colliders2[ii].position(); SIMD_WIDTH], - ), - manifolds: manifold_arr.as_mut_slice(), - workspaces: workspace_arr.as_mut_slice(), - }; - - (gen.generate_contacts_simd)(&mut context2) - } - } - - for (i, pair) in context.pairs.iter().enumerate() { - if had_contacts_before[i] != pair.has_any_active_contact() { - if had_contacts_before[i] { - events.handle_contact_event(ContactEvent::Stopped( - pair.pair.collider1, - pair.pair.collider2, - )) - } else { - events.handle_contact_event(ContactEvent::Started( - pair.pair.collider1, - pair.pair.collider2, - )) - } - } - } - } -} - -pub struct PrimitiveContactGenerationContext<'a> { - pub prediction_distance: f32, - pub collider1: &'a Collider, - pub collider2: &'a Collider, - pub shape1: &'a dyn Shape, - pub shape2: &'a dyn Shape, - pub position1: &'a Isometry, - pub position2: &'a Isometry, - pub manifold: &'a mut ContactManifold, - pub workspace: Option<&'a mut (dyn MaybeSerializableData)>, -} - -#[cfg(feature = "simd-is-enabled")] -pub struct PrimitiveContactGenerationContextSimd<'a, 'b> { - pub prediction_distance: f32, - pub colliders1: [&'a Collider; SIMD_WIDTH], - pub colliders2: [&'a Collider; SIMD_WIDTH], - pub shapes1: [&'a dyn Shape; SIMD_WIDTH], - pub shapes2: [&'a dyn Shape; SIMD_WIDTH], - pub positions1: &'a Isometry, - pub positions2: &'a Isometry, - pub manifolds: &'a mut [&'b mut ContactManifold], - pub workspaces: &'a mut [Option<&'b mut (dyn MaybeSerializableData)>], -} - -#[derive(Copy, Clone)] -pub struct PrimitiveContactGenerator { - pub generate_contacts: fn(&mut PrimitiveContactGenerationContext), - #[cfg(feature = "simd-is-enabled")] - pub generate_contacts_simd: fn(&mut PrimitiveContactGenerationContextSimd), -} - -impl PrimitiveContactGenerator { - fn unimplemented_fn(_ctxt: &mut PrimitiveContactGenerationContext) {} - #[cfg(feature = "simd-is-enabled")] - fn unimplemented_simd_fn(_ctxt: &mut PrimitiveContactGenerationContextSimd) {} -} - -impl Default for PrimitiveContactGenerator { - fn default() -> Self { - Self { - generate_contacts: Self::unimplemented_fn, - #[cfg(feature = "simd-is-enabled")] - generate_contacts_simd: Self::unimplemented_simd_fn, - } - } -} - -pub struct ContactGenerationContext<'a> { - pub dispatcher: &'a dyn ContactDispatcher, - pub prediction_distance: f32, - pub colliders: &'a ColliderSet, - pub pair: &'a mut ContactPair, - pub solver_flags: SolverFlags, -} - -#[cfg(feature = "simd-is-enabled")] -pub struct ContactGenerationContextSimd<'a, 'b> { - pub dispatcher: &'a dyn ContactDispatcher, - pub prediction_distance: f32, - pub colliders: &'a ColliderSet, - pub pairs: &'a mut [&'b mut ContactPair], - pub solver_flags: &'a [SolverFlags], -} - -#[derive(Copy, Clone)] -pub struct ContactGenerator { - pub generate_contacts: fn(&mut ContactGenerationContext), - #[cfg(feature = "simd-is-enabled")] - pub generate_contacts_simd: fn(&mut ContactGenerationContextSimd), -} - -impl ContactGenerator { - fn unimplemented_fn(_ctxt: &mut ContactGenerationContext) {} - #[cfg(feature = "simd-is-enabled")] - fn unimplemented_simd_fn(_ctxt: &mut ContactGenerationContextSimd) {} -} - -impl Default for ContactGenerator { - fn default() -> Self { - Self { - generate_contacts: Self::unimplemented_fn, - #[cfg(feature = "simd-is-enabled")] - generate_contacts_simd: Self::unimplemented_simd_fn, - } - } -} diff --git a/src/geometry/contact_generator/contact_generator_workspace.rs b/src/geometry/contact_generator/contact_generator_workspace.rs deleted file mode 100644 index 7aac592..0000000 --- a/src/geometry/contact_generator/contact_generator_workspace.rs +++ /dev/null @@ -1,104 +0,0 @@ -use crate::data::MaybeSerializableData; -#[cfg(feature = "dim3")] -use crate::geometry::contact_generator::PfmPfmContactManifoldGeneratorWorkspace; -use crate::geometry::contact_generator::{ - HeightFieldShapeContactGeneratorWorkspace, TriMeshShapeContactGeneratorWorkspace, - WorkspaceSerializationTag, -}; - -// Note we have this newtype because it simplifies the serialization/deserialization code. -pub struct ContactGeneratorWorkspace(pub Box); - -impl Clone for ContactGeneratorWorkspace { - fn clone(&self) -> Self { - ContactGeneratorWorkspace(self.0.clone_dyn()) - } -} - -impl From for ContactGeneratorWorkspace { - fn from(data: T) -> Self { - Self(Box::new(data) as Box) - } -} - -#[cfg(feature = "serde-serialize")] -impl serde::Serialize for ContactGeneratorWorkspace { - fn serialize(&self, serializer: S) -> Result - where - S: serde::Serializer, - { - use crate::serde::ser::SerializeStruct; - - if let Some((tag, ser)) = self.0.as_serialize() { - let mut state = serializer.serialize_struct("ContactGeneratorWorkspace", 2)?; - state.serialize_field("tag", &tag)?; - state.serialize_field("inner", ser)?; - state.end() - } else { - Err(serde::ser::Error::custom( - "Found a non-serializable contact generator workspace.", - )) - } - } -} - -#[cfg(feature = "serde-serialize")] -impl<'de> serde::Deserialize<'de> for ContactGeneratorWorkspace { - fn deserialize(deserializer: D) -> Result - where - D: serde::Deserializer<'de>, - { - struct Visitor {}; - impl<'de> serde::de::Visitor<'de> for Visitor { - type Value = ContactGeneratorWorkspace; - fn expecting(&self, formatter: &mut std::fmt::Formatter) -> std::fmt::Result { - write!(formatter, "one shape type tag and the inner shape data") - } - - fn visit_seq(self, mut seq: A) -> Result - where - A: serde::de::SeqAccess<'de>, - { - use num::cast::FromPrimitive; - - let tag: u32 = seq - .next_element()? - .ok_or_else(|| serde::de::Error::invalid_length(0, &self))?; - - fn deser<'de, A, S: MaybeSerializableData + serde::Deserialize<'de>>( - seq: &mut A, - ) -> Result, A::Error> - where - A: serde::de::SeqAccess<'de>, - { - let workspace: S = seq.next_element()?.ok_or_else(|| { - serde::de::Error::custom("Failed to deserialize builtin workspace.") - })?; - Ok(Box::new(workspace) as Box) - } - - let workspace = match WorkspaceSerializationTag::from_u32(tag) { - Some(WorkspaceSerializationTag::HeightfieldShapeContactGeneratorWorkspace) => { - deser::(&mut seq)? - } - Some(WorkspaceSerializationTag::TriMeshShapeContactGeneratorWorkspace) => { - deser::(&mut seq)? - } - #[cfg(feature = "dim3")] - Some(WorkspaceSerializationTag::PfmPfmContactGeneratorWorkspace) => { - deser::(&mut seq)? - } - None => { - return Err(serde::de::Error::custom( - "found invalid contact generator workspace type to deserialize", - )) - } - }; - - Ok(ContactGeneratorWorkspace(workspace)) - } - } - - deserializer.deserialize_struct("ContactGeneratorWorkspace", &["tag", "inner"], Visitor {}) - } -} diff --git a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs b/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs deleted file mode 100644 index 9f5d856..0000000 --- a/src/geometry/contact_generator/cuboid_capsule_contact_generator.rs +++ /dev/null @@ -1,190 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{Capsule, ContactManifold, ContactManifoldData, Cuboid, KinematicsCategory}; -use crate::math::Isometry; -use crate::math::Vector; -use buckler::query::sat; -#[cfg(feature = "dim3")] -use buckler::shape::PolyhedronFeature; -#[cfg(feature = "dim2")] -use buckler::shape::{CuboidFeature, CuboidFeatureFace}; - -pub fn generate_contacts_cuboid_capsule(ctxt: &mut PrimitiveContactGenerationContext) { - if let (Some(cube1), Some(capsule2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_capsule()) { - generate_contacts( - ctxt.prediction_distance, - cube1, - ctxt.position1, - capsule2, - ctxt.position2, - ctxt.manifold, - false, - ); - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - } else if let (Some(capsule1), Some(cube2)) = - (ctxt.shape1.as_capsule(), ctxt.shape2.as_cuboid()) - { - generate_contacts( - ctxt.prediction_distance, - cube2, - ctxt.position2, - capsule1, - ctxt.position1, - ctxt.manifold, - true, - ); - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - } - ctxt.manifold.sort_contacts(ctxt.prediction_distance); -} - -pub fn generate_contacts<'a>( - prediction_distance: f32, - cube1: &'a Cuboid, - mut pos1: &'a Isometry, - capsule2: &'a Capsule, - mut pos2: &'a Isometry, - manifold: &mut ContactManifold, - swapped: bool, -) { - let mut pos12 = pos1.inverse() * pos2; - let mut pos21 = pos12.inverse(); - - if (!swapped && manifold.try_update_contacts(&pos12)) - || (swapped && manifold.try_update_contacts(&pos21)) - { - return; - } - - let segment2 = capsule2.segment; - - /* - * - * Point-Face cases. - * - */ - let sep1 = - sat::cuboid_support_map_find_local_separating_normal_oneway(cube1, &segment2, &pos12); - if sep1.0 > capsule2.radius + prediction_distance { - manifold.points.clear(); - return; - } - - #[cfg(feature = "dim3")] - let sep2 = (-f32::MAX, Vector::x()); - #[cfg(feature = "dim2")] - let sep2 = sat::segment_cuboid_find_local_separating_normal_oneway(&segment2, cube1, &pos21); - if sep2.0 > capsule2.radius + prediction_distance { - manifold.points.clear(); - return; - } - - /* - * - * Edge-Edge cases. - * - */ - #[cfg(feature = "dim2")] - let sep3 = (-f32::MAX, Vector::x()); // This case does not exist in 2D. - #[cfg(feature = "dim3")] - let sep3 = sat::cuboid_segment_find_local_separating_edge_twoway(cube1, &segment2, &pos12); - if sep3.0 > capsule2.radius + prediction_distance { - manifold.points.clear(); - return; - } - - /* - * - * Select the best combination of features - * and get the polygons to clip. - * - */ - let mut swapped_reference = false; - let mut best_sep = sep1; - - if sep2.0 > sep1.0 && sep2.0 > sep3.0 { - // The reference shape will be the second shape. - // std::mem::swap(&mut cube1, &mut capsule2); - std::mem::swap(&mut pos1, &mut pos2); - std::mem::swap(&mut pos12, &mut pos21); - best_sep = sep2; - swapped_reference = true; - } else if sep3.0 > sep1.0 { - best_sep = sep3; - } - - let feature1; - let mut feature2; - - #[cfg(feature = "dim2")] - { - if swapped_reference { - feature1 = CuboidFeatureFace::from(segment2); - feature2 = cube1.support_face(pos21 * -best_sep.1); - } else { - feature1 = cube1.support_face(best_sep.1); - feature2 = CuboidFeatureFace::from(segment2); - } - } - #[cfg(feature = "dim3")] - { - if swapped_reference { - feature1 = PolyhedronFeature::from(segment2); - feature2 = cube1.polyhedron_support_face(pos21 * -best_sep.1); - } else { - feature1 = cube1.polyhedron_support_face(best_sep.1); - feature2 = PolyhedronFeature::from(segment2); - } - } - - feature2.transform_by(&pos12); - - if swapped ^ swapped_reference { - manifold.swap_identifiers(); - } - - // We do this clone to perform contact tracking and transfer impulses. - // FIXME: find a more efficient way of doing this. - let old_manifold_points = manifold.points.clone(); - manifold.points.clear(); - - #[cfg(feature = "dim2")] - CuboidFeature::face_face_contacts( - prediction_distance + capsule2.radius, - &feature1, - &best_sep.1, - &feature2, - &pos21, - manifold, - ); - #[cfg(feature = "dim3")] - PolyhedronFeature::contacts( - prediction_distance + capsule2.radius, - &feature1, - &best_sep.1, - &feature2, - &pos21, - manifold, - ); - - // Adjust points to take the radius into account. - manifold.local_n1 = best_sep.1; - manifold.local_n2 = pos21 * -best_sep.1; - manifold.kinematics.category = KinematicsCategory::PlanePoint; - manifold.kinematics.radius1 = 0.0; - manifold.kinematics.radius2 = 0.0; - - if swapped_reference { - for point in &mut manifold.points { - point.local_p1 += manifold.local_n1 * capsule2.radius; - point.dist -= capsule2.radius; - } - } else { - for point in &mut manifold.points { - point.local_p2 += manifold.local_n2 * capsule2.radius; - point.dist -= capsule2.radius; - } - } - - // Transfer impulses. - manifold.match_contacts(&old_manifold_points, swapped ^ swapped_reference); -} diff --git a/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs b/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs deleted file mode 100644 index 1d750ef..0000000 --- a/src/geometry/contact_generator/cuboid_cuboid_contact_generator.rs +++ /dev/null @@ -1,156 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{ContactManifold, ContactManifoldData, KinematicsCategory}; -use crate::math::Isometry; -#[cfg(feature = "dim2")] -use crate::math::Vector; -use buckler::query::sat; -use buckler::shape::{Cuboid, CuboidFeature}; - -pub fn generate_contacts_cuboid_cuboid(ctxt: &mut PrimitiveContactGenerationContext) { - if let (Some(cube1), Some(cube2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_cuboid()) { - generate_contacts( - ctxt.prediction_distance, - cube1, - ctxt.position1, - cube2, - ctxt.position2, - ctxt.manifold, - ); - } else { - unreachable!() - } - - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - ctxt.manifold.sort_contacts(ctxt.prediction_distance); -} - -pub fn generate_contacts<'a>( - prediction_distance: f32, - mut cube1: &'a Cuboid, - mut pos1: &'a Isometry, - mut cube2: &'a Cuboid, - mut pos2: &'a Isometry, - manifold: &mut ContactManifold, -) { - let mut pos12 = pos1.inverse() * pos2; - let mut pos21 = pos12.inverse(); - - if manifold.try_update_contacts(&pos12) { - return; - } - - /* - * - * Point-Face - * - */ - let sep1 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cube1, cube2, &pos12); - if sep1.0 > prediction_distance { - manifold.points.clear(); - return; - } - - let sep2 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cube2, cube1, &pos21); - if sep2.0 > prediction_distance { - manifold.points.clear(); - return; - } - - /* - * - * Edge-Edge cases - * - */ - #[cfg(feature = "dim2")] - let sep3 = (-f32::MAX, Vector::x()); // This case does not exist in 2D. - #[cfg(feature = "dim3")] - let sep3 = sat::cuboid_cuboid_find_local_separating_edge_twoway(cube1, cube2, &pos12); - if sep3.0 > prediction_distance { - manifold.points.clear(); - return; - } - - /* - * - * Select the best combination of features - * and get the polygons to clip. - * - */ - let mut swapped = false; - let mut best_sep = sep1; - - if sep2.0 > sep1.0 && sep2.0 > sep3.0 { - // The reference shape will be the second shape. - std::mem::swap(&mut cube1, &mut cube2); - std::mem::swap(&mut pos1, &mut pos2); - std::mem::swap(&mut pos12, &mut pos21); - manifold.swap_identifiers(); - best_sep = sep2; - swapped = true; - } else if sep3.0 > sep1.0 { - best_sep = sep3; - } - - // We do this clone to perform contact tracking and transfer impulses. - // FIXME: find a more efficient way of doing this. - let old_manifold_points = manifold.points.clone(); - manifold.points.clear(); - - // Now the reference feature is from `cube1` and the best separation is `best_sep`. - // Everything must be expressed in the local-space of `cube1` for contact clipping. - let feature1 = cube1.support_feature(best_sep.1); - let mut feature2 = cube2.support_feature(pos21 * -best_sep.1); - feature2.transform_by(&pos12); - - match (&feature1, &feature2) { - (CuboidFeature::Face(f1), CuboidFeature::Vertex(v2)) => { - CuboidFeature::face_vertex_contacts(f1, &best_sep.1, v2, &pos21, manifold) - } - #[cfg(feature = "dim3")] - (CuboidFeature::Face(f1), CuboidFeature::Edge(e2)) => CuboidFeature::face_edge_contacts( - prediction_distance, - f1, - &best_sep.1, - e2, - &pos21, - manifold, - false, - ), - (CuboidFeature::Face(f1), CuboidFeature::Face(f2)) => CuboidFeature::face_face_contacts( - prediction_distance, - f1, - &best_sep.1, - f2, - &pos21, - manifold, - ), - #[cfg(feature = "dim3")] - (CuboidFeature::Edge(e1), CuboidFeature::Edge(e2)) => { - CuboidFeature::edge_edge_contacts(e1, &best_sep.1, e2, &pos21, manifold) - } - #[cfg(feature = "dim3")] - (CuboidFeature::Edge(e1), CuboidFeature::Face(f2)) => { - // Since f2 is also expressed in the local-space of the first - // feature, the position we provide here is pos21. - CuboidFeature::face_edge_contacts( - prediction_distance, - f2, - &-best_sep.1, - e1, - &pos21, - manifold, - true, - ) - } - _ => unreachable!(), // The other cases are not possible. - } - - manifold.local_n1 = best_sep.1; - manifold.local_n2 = pos21 * -best_sep.1; - manifold.kinematics.category = KinematicsCategory::PlanePoint; - manifold.kinematics.radius1 = 0.0; - manifold.kinematics.radius2 = 0.0; - - // Transfer impulses. - manifold.match_contacts(&old_manifold_points, swapped); -} diff --git a/src/geometry/contact_generator/cuboid_polygon_contact_generator.rs b/src/geometry/contact_generator/cuboid_polygon_contact_generator.rs deleted file mode 100644 index 8b13789..0000000 --- a/src/geometry/contact_generator/cuboid_polygon_contact_generator.rs +++ /dev/null @@ -1 +0,0 @@ - diff --git a/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs b/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs deleted file mode 100644 index 06dc6f0..0000000 --- a/src/geometry/contact_generator/cuboid_triangle_contact_generator.rs +++ /dev/null @@ -1,171 +0,0 @@ -use crate::geometry::contact_generator::PrimitiveContactGenerationContext; -use crate::geometry::{ContactManifold, ContactManifoldData, Cuboid, KinematicsCategory, Triangle}; -use crate::math::Isometry; -#[cfg(feature = "dim2")] -use crate::{buckler::shape::CuboidFeature, geometry::triangle, math::Vector}; -use buckler::query::sat; -#[cfg(feature = "dim3")] -use buckler::shape::PolyhedronFeature; - -pub fn generate_contacts_cuboid_triangle(ctxt: &mut PrimitiveContactGenerationContext) { - if let (Some(cube1), Some(triangle2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_triangle()) { - generate_contacts( - ctxt.prediction_distance, - cube1, - ctxt.position1, - triangle2, - ctxt.position2, - ctxt.manifold, - false, - ); - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - } else if let (Some(triangle1), Some(cube2)) = - (ctxt.shape1.as_triangle(), ctxt.shape2.as_cuboid()) - { - generate_contacts( - ctxt.prediction_distance, - cube2, - ctxt.position2, - triangle1, - ctxt.position1, - ctxt.manifold, - true, - ); - ContactManifoldData::update_warmstart_multiplier(ctxt.manifold); - } - ctxt.manifold.sort_contacts(ctxt.prediction_distance); -} - -pub fn generate_contacts<'a>( - prediction_distance: f32, - cube1: &'a Cuboid, - mut pos1: &'a Isometry, - triangle2: &'a Triangle, - mut pos2: &'a Isometry, - manifold: &mut ContactManifold, - swapped: bool, -) { - let mut pos12 = pos1.inverse() * pos2; - let mut pos21 = pos12.inverse(); - - if (!swapped && manifold.try_update_contacts(&pos12)) - || (swapped && manifold.try_update_contacts(&pos21)) - { - return; - } - - /* - * - * Point-Face cases. - * - */ - let sep1 = - sat::cuboid_support_map_find_local_separating_normal_oneway(cube1, triangle2, &pos12); - if sep1.0 > prediction_distance { - manifold.points.clear(); - return; - } - - let sep2 = sat::triangle_cuboid_find_local_separating_normal_oneway(triangle2, cube1, &pos21); - if sep2.0 > prediction_distance { - manifold.points.clear(); - return; - } - - /* - * - * Edge-Edge cases. - * - */ - #[cfg(feature = "dim2")] - let sep3 = (-f32::MAX, Vector::x()); // This case does not exist in 2D. - #[cfg(feature = "dim3")] - let sep3 = sat::cuboid_triangle_find_local_separating_edge_twoway(cube1, triangle2, &pos12); - if sep3.0 > prediction_distance { - manifold.points.clear(); - return; - } - - /* - * - * Select the best combination of features - * and get the polygons to clip. - * - */ - let mut swapped_reference = false; - let mut best_sep = sep1; - - if sep2.0 > sep1.0 && sep2.0 > sep3.0 { - // The reference shape will be the second shape. - // std::mem::swap(&mut cube1, &mut triangle2); - std::mem::swap(&mut pos1, &mut pos2); - std::mem::swap(&mut pos12, &mut pos21); - best_sep = sep2; - swapped_reference = true; - } else if sep3.0 > sep1.0 { - best_sep = sep3; - } - - let feature1; - let mut feature2; - - #[cfg(feature = "dim2")] - { - if swapped_reference { - feature1 = triangle::support_face(triangle2, best_sep.1); - feature2 = cube1.support_face(pos21 * -best_sep.1); - } else { - feature1 = cube1.support_face(best_sep.1); - feature2 = triangle::support_face(triangle2, pos21 * -best_sep.1); - } - } - #[cfg(feature = "dim3")] - { - if swapped_reference { - feature1 = PolyhedronFeature::from(*triangle2); - feature2 = cube1.polyhedron_support_face(pos21 * -best_sep.1); - } else { - feature1 = cube1.polyhedron_support_face(best_sep.1); - feature2 = PolyhedronFeature::from(*triangle2); - } - } - - feature2.transform_by(&pos12); - - if swapped ^ swapped_reference { - manifold.swap_identifiers(); - } - - // We do this clone to perform contact tracking and transfer impulses. - // FIXME: find a more efficient way of doing this. - let old_manifold_points = manifold.points.clone(); - manifold.points.clear(); - - #[cfg(feature = "dim2")] - CuboidFeature::face_face_contacts( - prediction_distance, - &feature1, - &best_sep.1, - &feature2, - &pos21, - manifold, - ); - #[cfg(feature = "dim3")] - PolyhedronFeature::contacts( - prediction_distance, - &feature1, - &best_sep.1, - &feature2, - &pos21, - manifold, - ); - - manifold.local_n1 = best_sep.1; - manifold.local_n2 = pos21 * -best_sep.1; - manifold.kinematics.category = KinematicsCategory::PlanePoint; - manifold.kinematics.radius1 = 0.0; - manifold.kinematics.radius2 = 0.0; - - // Transfer impulses. - manifold.match_contacts(&old_manifold_points, swapped ^ swapped_reference); -} diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs deleted file mode 100644 index 125ac34..0000000 --- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs +++ /dev/null @@ -1,190 +0,0 @@ -use crate::buckler::bounding_volume::BoundingVolume; -use crate::data::hashmap::{Entry, HashMap}; -use crate::data::MaybeSerializableData; -use crate::geometry::contact_generator::{ - ContactGenerationContext, ContactGeneratorWorkspace, PrimitiveContactGenerationContext, - PrimitiveContactGenerator, -}; -use crate::geometry::{Collider, ContactManifold, ContactManifoldData}; -#[cfg(feature = "dim2")] -use buckler::shape::Capsule; -use buckler::shape::{HeightField, Shape}; -#[cfg(feature = "serde-serialize")] -use erased_serde::Serialize; - -#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Clone)] -struct SubDetector { - #[cfg_attr(feature = "serde-serialize", serde(skip))] - generator: Option, - manifold_id: usize, - timestamp: bool, - workspace: Option, -} - -#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Clone)] -pub struct HeightFieldShapeContactGeneratorWorkspace { - timestamp: bool, - #[cfg_attr(feature = "serde-serialize", serde(skip))] - old_manifolds: Vec, - sub_detectors: HashMap, -} - -impl HeightFieldShapeContactGeneratorWorkspace { - pub fn new() -> Self { - Self { - timestamp: false, - old_manifolds: Vec::new(), - sub_detectors: HashMap::default(), - } - } -} - -pub fn generate_contacts_heightfield_shape(ctxt: &mut ContactGenerationContext) { - let collider1 = &ctxt.colliders[ctxt.pair.pair.collider1]; - let collider2 = &ctxt.colliders[ctxt.pair.pair.collider2]; - - if let Some(heightfield1) = collider1.shape().as_heightfield() { - do_generate_contacts(heightfield1, collider1, collider2, ctxt, false) - } else if let Some(heightfield2) = collider2.shape().as_heightfield() { - do_generate_contacts(heightfield2, collider2, collider1, ctxt, true) - } -} - -fn do_generate_contacts( - heightfield1: &HeightField, - collider1: &Collider, - collider2: &Collider, - ctxt: &mut ContactGenerationContext, - _flipped: bool, -) { - let workspace: &mut HeightFieldShapeContactGeneratorWorkspace = ctxt - .pair - .generator_workspace - .as_mut() - .expect("The HeightFieldShapeContactGeneratorWorkspace is missing.") - .0 - .downcast_mut() - .expect("Invalid workspace type, expected a HeightFieldShapeContactGeneratorWorkspace."); - let new_timestamp = !workspace.timestamp; - workspace.timestamp = new_timestamp; - - /* - * Compute interferences. - */ - let pos12 = collider1.position.inverse() * collider2.position; - // TODO: somehow precompute the AABB and reuse it? - let ls_aabb2 = collider2 - .shape() - .compute_aabb(&pos12) - .loosened(ctxt.prediction_distance); - - std::mem::swap(&mut workspace.old_manifolds, &mut ctxt.pair.manifolds); - ctxt.pair.manifolds.clear(); - let coll_pair = ctxt.pair.pair; - let manifolds = &mut ctxt.pair.manifolds; - let prediction_distance = ctxt.prediction_distance; - let dispatcher = ctxt.dispatcher; - let solver_flags = ctxt.solver_flags; - let shape_type2 = collider2.shape().shape_type(); - - heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1| { - let position1 = collider1.position(); - #[cfg(feature = "dim2")] - let sub_shape1 = Capsule::new(part1.a, part1.b, 0.0); // TODO: use a segment instead. - #[cfg(feature = "dim3")] - let sub_shape1 = *part1; - - let sub_detector = match workspace.sub_detectors.entry(i as usize) { - Entry::Occupied(entry) => { - let sub_detector = entry.into_mut(); - let manifold = workspace.old_manifolds[sub_detector.manifold_id].take(); - sub_detector.manifold_id = manifolds.len(); - sub_detector.timestamp = new_timestamp; - manifolds.push(manifold); - sub_detector - } - Entry::Vacant(entry) => { - let (generator, workspace2) = - dispatcher.dispatch_primitives(sub_shape1.shape_type(), shape_type2); - let sub_detector = SubDetector { - generator: Some(generator), - manifold_id: manifolds.len(), - timestamp: new_timestamp, - workspace: workspace2, - }; - let manifold_data = ContactManifoldData::from_colliders( - coll_pair, - collider1, - collider2, - solver_flags, - ); - manifolds.push(ContactManifold::with_data((i as usize, 0), manifold_data)); - - entry.insert(sub_detector) - } - }; - - if sub_detector.generator.is_none() { - // We probably lost the generator after deserialization. - // So we need to dispatch again. - let (generator, workspace2) = - dispatcher.dispatch_primitives(sub_shape1.shape_type(), shape_type2); - sub_detector.generator = Some(generator); - - // Don't overwrite the workspace if we already deserialized one. - if sub_detector.workspace.is_none() { - sub_detector.workspace = workspace2; - } - } - - let manifold = &mut manifolds[sub_detector.manifold_id]; - - let mut ctxt2 = if coll_pair.collider1 != manifold.data.pair.collider1 { - PrimitiveContactGenerationContext { - prediction_distance, - collider1: collider2, - collider2: collider1, - shape1: collider2.shape(), - shape2: &sub_shape1, - position1: collider2.position(), - position2: position1, - manifold, - workspace: sub_detector.workspace.as_mut().map(|w| &mut *w.0), - } - } else { - PrimitiveContactGenerationContext { - prediction_distance, - collider1, - collider2, - shape1: &sub_shape1, - shape2: collider2.shape(), - position1, - position2: collider2.position(), - manifold, - workspace: sub_detector.workspace.as_mut().map(|w| &mut *w.0), - } - }; - - (sub_detector.generator.unwrap().generate_contacts)(&mut ctxt2) - }); - - workspace - .sub_detectors - .retain(|_, detector| detector.timestamp == new_timestamp) -} - -impl MaybeSerializableData for HeightFieldShapeContactGeneratorWorkspace { - #[cfg(feature = "serde-serialize")] - fn as_serialize(&self) -> Option<(u32, &dyn Serialize)> { - Some(( - super::WorkspaceSerializationTag::HeightfieldShapeContactGeneratorWorkspace as u32, - self, - )) - } - - fn clone_dyn(&self) -> Box { - Box::new(self.clone()) - } -} diff --git a/src/geometry/contact_generator/mod.rs b/src/geometry/contact_generator/mod.rs deleted file mode 100644 index 4c0716a..0000000 --- a/src/geometry/contact_generator/mod.rs +++ /dev/null @@ -1,51 +0,0 @@ -pub use self::ball_ball_contact_generator::generate_contacts_ball_ball; -#[cfg(feature = "simd-is-enabled")] -pub use self::ball_ball_contact_generator::generate_contacts_ball_ball_simd; -pub use self::ball_convex_contact_generator::generate_contacts_ball_convex; -pub use self::capsule_capsule_contact_generator::generate_contacts_capsule_capsule; -pub use self::contact_dispatcher::{ContactDispatcher, DefaultContactDispatcher}; -pub use self::contact_generator::{ - ContactGenerationContext, ContactGenerator, ContactPhase, PrimitiveContactGenerationContext, - PrimitiveContactGenerator, -}; -#[cfg(feature = "simd-is-enabled")] -pub use self::contact_generator::{ - ContactGenerationContextSimd, PrimitiveContactGenerationContextSimd, -}; -pub use self::cuboid_capsule_contact_generator::generate_contacts_cuboid_capsule; -pub use self::cuboid_cuboid_contact_generator::generate_contacts_cuboid_cuboid; -pub use self::cuboid_triangle_contact_generator::generate_contacts_cuboid_triangle; -pub use self::heightfield_shape_contact_generator::{ - generate_contacts_heightfield_shape, HeightFieldShapeContactGeneratorWorkspace, -}; -#[cfg(feature = "dim3")] -pub use self::pfm_pfm_contact_generator::{ - generate_contacts_pfm_pfm, PfmPfmContactManifoldGeneratorWorkspace, -}; -// pub use self::polygon_polygon_contact_generator::generate_contacts_polygon_polygon; -pub use self::contact_generator_workspace::ContactGeneratorWorkspace; -pub use self::trimesh_shape_contact_generator::{ - generate_contacts_trimesh_shape, TriMeshShapeContactGeneratorWorkspace, -}; - -pub(self) use self::serializable_workspace_tag::WorkspaceSerializationTag; - -mod ball_ball_contact_generator; -mod ball_convex_contact_generator; -mod ball_polygon_contact_generator; -mod capsule_capsule_contact_generator; -mod contact_dispatcher; -mod contact_generator; -mod contact_generator_workspace; -mod cuboid_capsule_contact_generator; -mod cuboid_cuboid_contac