From ad5c10672e36f47fbdb0667bccd79c59ff3a97cc Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 22 Feb 2021 17:51:40 +0100 Subject: Use contact ids instead of contact reordering in order to identify the impulse writeback location. --- src/dynamics/solver/velocity_constraint.rs | 19 ++++++++++--------- src/dynamics/solver/velocity_constraint_wide.rs | 16 +++++++++------- src/dynamics/solver/velocity_ground_constraint.rs | 18 +++++++++--------- .../solver/velocity_ground_constraint_wide.rs | 16 +++++++++------- src/geometry/contact_pair.rs | 8 ++++++++ src/geometry/narrow_phase.rs | 20 +++++++------------- 6 files changed, 52 insertions(+), 45 deletions(-) (limited to 'src') diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 2cac93d..63139cc 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -124,7 +124,7 @@ pub(crate) struct VelocityConstraint { pub mj_lambda1: usize, pub mj_lambda2: usize, pub manifold_id: ContactManifoldIndex, - pub manifold_contact_id: usize, + pub manifold_contact_id: [u8; MAX_MANIFOLD_POINTS], pub num_contacts: u8, pub elements: [VelocityConstraintElement; MAX_MANIFOLD_POINTS], } @@ -168,7 +168,7 @@ impl VelocityConstraint { mj_lambda1, mj_lambda2, manifold_id, - manifold_contact_id: l * MAX_MANIFOLD_POINTS, + manifold_contact_id: [0; MAX_MANIFOLD_POINTS], num_contacts: manifold_points.len() as u8, }; @@ -211,7 +211,7 @@ impl VelocityConstraint { constraint.mj_lambda1 = mj_lambda1; constraint.mj_lambda2 = mj_lambda2; constraint.manifold_id = manifold_id; - constraint.manifold_contact_id = l * MAX_MANIFOLD_POINTS; + constraint.manifold_contact_id = [0; MAX_MANIFOLD_POINTS]; constraint.num_contacts = manifold_points.len() as u8; } @@ -224,6 +224,8 @@ impl VelocityConstraint { let vel2 = rb2.linvel + rb2.angvel.gcross(dp2); constraint.limit = manifold_point.friction; + constraint.manifold_contact_id[k] = manifold_point.contact_id; + // Normal part. { let gcross1 = rb1 @@ -382,19 +384,18 @@ impl VelocityConstraint { pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) { let manifold = &mut manifolds_all[self.manifold_id]; - let k_base = self.manifold_contact_id; for k in 0..self.num_contacts as usize { - let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()]; - active_contacts[k_base + k].data.impulse = self.elements[k].normal_part.impulse; + let contact_id = self.manifold_contact_id[k]; + let active_contact = &mut manifold.points[contact_id as usize]; + active_contact.data.impulse = self.elements[k].normal_part.impulse; #[cfg(feature = "dim2")] { - active_contacts[k_base + k].data.tangent_impulse = - self.elements[k].tangent_part[0].impulse; + active_contacts.data.tangent_impulse = self.elements[k].tangent_part[0].impulse; } #[cfg(feature = "dim3")] { - active_contacts[k_base + k].data.tangent_impulse = [ + active_contact.data.tangent_impulse = [ self.elements[k].tangent_part[0].impulse, self.elements[k].tangent_part[1].impulse, ]; diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index 3e068e7..8838011 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -55,7 +55,7 @@ pub(crate) struct WVelocityConstraint { pub mj_lambda1: [usize; SIMD_WIDTH], pub mj_lambda2: [usize; SIMD_WIDTH], pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH], - pub manifold_contact_id: usize, + pub manifold_contact_id: [[u8; SIMD_WIDTH]; MAX_MANIFOLD_POINTS], } impl WVelocityConstraint { @@ -116,7 +116,7 @@ impl WVelocityConstraint { mj_lambda1, mj_lambda2, manifold_id, - manifold_contact_id: l, + manifold_contact_id: [[0; SIMD_WIDTH]; MAX_MANIFOLD_POINTS], num_contacts: num_points as u8, }; @@ -141,6 +141,8 @@ impl WVelocityConstraint { let vel2 = linvel2 + angvel2.gcross(dp2); constraint.limit = friction; + constraint.manifold_contact_id[k] = + array![|ii| manifold_points[ii][k].contact_id; SIMD_WIDTH]; // Normal part. { @@ -332,17 +334,17 @@ impl WVelocityConstraint { for ii in 0..SIMD_WIDTH { let manifold = &mut manifolds_all[self.manifold_id[ii]]; - let k_base = self.manifold_contact_id; - let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()]; - active_contacts[k_base + k].data.impulse = impulses[ii]; + let contact_id = self.manifold_contact_id[k][ii]; + let active_contact = &mut manifold.points[contact_id as usize]; + active_contact.data.impulse = impulses[ii]; #[cfg(feature = "dim2")] { - active_contacts[k_base + k].data.tangent_impulse = tangent_impulses[ii]; + active_contact.data.tangent_impulse = tangent_impulses[ii]; } #[cfg(feature = "dim3")] { - active_contacts[k_base + k].data.tangent_impulse = + active_contact.data.tangent_impulse = [tangent_impulses[ii], bitangent_impulses[ii]]; } } diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 88f864a..6f61b17 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -49,7 +49,7 @@ pub(crate) struct VelocityGroundConstraint { pub limit: Real, pub mj_lambda2: usize, pub manifold_id: ContactManifoldIndex, - pub manifold_contact_id: usize, + pub manifold_contact_id: [u8; MAX_MANIFOLD_POINTS], pub num_contacts: u8, pub elements: [VelocityGroundConstraintElement; MAX_MANIFOLD_POINTS], } @@ -92,7 +92,7 @@ impl VelocityGroundConstraint { limit: 0.0, mj_lambda2, manifold_id, - manifold_contact_id: l * MAX_MANIFOLD_POINTS, + manifold_contact_id: [0; MAX_MANIFOLD_POINTS], num_contacts: manifold_points.len() as u8, }; @@ -133,7 +133,7 @@ impl VelocityGroundConstraint { constraint.limit = 0.0; constraint.mj_lambda2 = mj_lambda2; constraint.manifold_id = manifold_id; - constraint.manifold_contact_id = l * MAX_MANIFOLD_POINTS; + constraint.manifold_contact_id = [0; MAX_MANIFOLD_POINTS]; constraint.num_contacts = manifold_points.len() as u8; } @@ -145,6 +145,7 @@ impl VelocityGroundConstraint { let vel2 = rb2.linvel + rb2.angvel.gcross(dp2); constraint.limit = manifold_point.friction; + constraint.manifold_contact_id[k] = manifold_point.contact_id; // Normal part. { @@ -267,19 +268,18 @@ impl VelocityGroundConstraint { // FIXME: duplicated code. This is exactly the same as in the non-ground velocity constraint. pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) { let manifold = &mut manifolds_all[self.manifold_id]; - let k_base = self.manifold_contact_id; for k in 0..self.num_contacts as usize { - let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()]; - active_contacts[k_base + k].data.impulse = self.elements[k].normal_part.impulse; + let contact_id = self.manifold_contact_id[k]; + let active_contact = &mut manifold.points[contact_id as usize]; + active_contact.data.impulse = self.elements[k].normal_part.impulse; #[cfg(feature = "dim2")] { - active_contacts[k_base + k].data.tangent_impulse = - self.elements[k].tangent_part[0].impulse; + active_contact.data.tangent_impulse = self.elements[k].tangent_part[0].impulse; } #[cfg(feature = "dim3")] { - active_contacts[k_base + k].data.tangent_impulse = [ + active_contact.data.tangent_impulse = [ self.elements[k].tangent_part[0].impulse, self.elements[k].tangent_part[1].impulse, ]; diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs index 29ba5e9..6f279d8 100644 --- a/src/dynamics/solver/velocity_ground_constraint_wide.rs +++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs @@ -51,7 +51,7 @@ pub(crate) struct WVelocityGroundConstraint { pub limit: SimdReal, pub mj_lambda2: [usize; SIMD_WIDTH], pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH], - pub manifold_contact_id: usize, + pub manifold_contact_id: [[u8; SIMD_WIDTH]; MAX_MANIFOLD_POINTS], } impl WVelocityGroundConstraint { @@ -111,7 +111,7 @@ impl WVelocityGroundConstraint { limit: SimdReal::splat(0.0), mj_lambda2, manifold_id, - manifold_contact_id: l, + manifold_contact_id: [[0; SIMD_WIDTH]; MAX_MANIFOLD_POINTS], num_contacts: num_points as u8, }; @@ -135,6 +135,8 @@ impl WVelocityGroundConstraint { let vel2 = linvel2 + angvel2.gcross(dp2); constraint.limit = friction; + constraint.manifold_contact_id[k] = + array![|ii| manifold_points[ii][k].contact_id; SIMD_WIDTH]; // Normal part. { @@ -281,17 +283,17 @@ impl WVelocityGroundConstraint { for ii in 0..SIMD_WIDTH { let manifold = &mut manifolds_all[self.manifold_id[ii]]; - let k_base = self.manifold_contact_id; - let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()]; - active_contacts[k_base + k].data.impulse = impulses[ii]; + let contact_id = self.manifold_contact_id[k][ii]; + let active_contact = &mut manifold.points[contact_id as usize]; + active_contact.data.impulse = impulses[ii]; #[cfg(feature = "dim2")] { - active_contacts[k_base + k].data.tangent_impulse = tangent_impulses[ii]; + active_contact.data.tangent_impulse = tangent_impulses[ii]; } #[cfg(feature = "dim3")] { - active_contacts[k_base + k].data.tangent_impulse = + active_contact.data.tangent_impulse = [tangent_impulses[ii], bitangent_impulses[ii]]; } } diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index 462d3ef..c94a2cf 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -110,6 +110,8 @@ pub struct ContactManifoldData { #[derive(Copy, Clone, Debug)] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] pub struct SolverContact { + /// The index of the manifold contact used to generate this solver contact. + pub contact_id: u8, /// The world-space contact point. pub point: Point, /// The distance between the two original contacts points along the contact normal. @@ -203,3 +205,9 @@ impl ContactManifoldData { // manifold.data.warmstart_multiplier = Self::min_warmstart_multiplier() // } } + +/// A contact manifold that can be modified by the user. +pub struct ModifiableContactManifold<'a> { + manifold: &'a super::ContactManifold, + solver_contacts: &'a mut Vec, +} diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 640ce12..9513fef 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -546,15 +546,17 @@ impl NarrowPhase { manifold.data.solver_flags = solver_flags; manifold.data.normal = world_pos1 * manifold.local_n1; - // Sort contacts to keep only these with distances bellow - // the prediction, and generate solver contacts. - let mut first_inactive_index = manifold.points.len(); + // Generate solver contacts. + for (contact_id, contact) in manifold.points.iter().enumerate() { + assert!( + contact_id <= u8::MAX as usize, + "A contact manifold cannot contain more than 255 contacts currently." + ); - while manifold.data.num_active_contacts() != first_inactive_index { - let contact = &manifold.points[manifold.data.num_active_contacts()]; if contact.dist < prediction_distance { // Generate the solver contact. let solver_contact = SolverContact { + contact_id: contact_id as u8, point: world_pos1 * contact.local_p1 + manifold.data.normal * contact.dist / 2.0, dist: contact.dist, @@ -570,14 +572,6 @@ impl NarrowPhase { has_any_active_contact = true; continue; } - - // If we reach this code, then the contact must be ignored by the constraints solver. - // Swap with the last contact. - manifold.points.swap( - manifold.data.num_active_contacts(), - first_inactive_index - 1, - ); - first_inactive_index -= 1; } } -- cgit From 00706e8b360e132cb88a7b393dcedadf35403379 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 23 Feb 2021 11:24:54 +0100 Subject: Introduce the PhysicsHook trait used for both contact filtering and contact modification. --- src/geometry/contact_pair.rs | 14 ++--- src/geometry/mod.rs | 2 +- src/geometry/narrow_phase.rs | 63 ++++++++++++++++++----- src/geometry/pair_filter.rs | 103 ++++++++++++++++++++++++++++++++----- src/pipeline/collision_pipeline.rs | 16 ++---- src/pipeline/physics_pipeline.rs | 11 ++-- 6 files changed, 157 insertions(+), 52 deletions(-) (limited to 'src') diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index c94a2cf..11e0188 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -9,7 +9,10 @@ bitflags::bitflags! { pub struct SolverFlags: u32 { /// The constraint solver will take this contact manifold into /// account for force computation. - const COMPUTE_IMPULSES = 0b01; + const COMPUTE_IMPULSES = 0b001; + /// The user-defined physics hooks will be used to + /// modify the solver contacts of this contact manifold. + const MODIFY_SOLVER_CONTACTS = 0b010; } } @@ -104,6 +107,8 @@ pub struct ContactManifoldData { /// The contacts that will be seen by the constraints solver for computing forces. #[cfg_attr(feature = "serde-serialize", serde(skip))] pub solver_contacts: Vec, + /// A user-defined piece of data. + pub user_data: u32, } /// A contact seen by the constraints solver for computing forces. @@ -165,6 +170,7 @@ impl ContactManifoldData { solver_flags, normal: Vector::zeros(), solver_contacts: Vec::new(), + user_data: 0, } } @@ -205,9 +211,3 @@ impl ContactManifoldData { // manifold.data.warmstart_multiplier = Self::min_warmstart_multiplier() // } } - -/// A contact manifold that can be modified by the user. -pub struct ModifiableContactManifold<'a> { - manifold: &'a super::ContactManifold, - solver_contacts: &'a mut Vec, -} diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs index 861763e..2997e24 100644 --- a/src/geometry/mod.rs +++ b/src/geometry/mod.rs @@ -10,7 +10,7 @@ pub use self::interaction_graph::{ }; pub use self::interaction_groups::InteractionGroups; pub use self::narrow_phase::NarrowPhase; -pub use self::pair_filter::{ContactPairFilter, IntersectionPairFilter, PairFilterContext}; +pub use self::pair_filter::{PairFilterContext, PhysicsHooks}; pub use parry::query::TrackedContact; diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 9513fef..e929e0f 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -4,10 +4,11 @@ use rayon::prelude::*; use crate::data::pubsub::Subscription; use crate::data::Coarena; use crate::dynamics::{BodyPair, CoefficientCombineRule, RigidBodySet}; +use crate::geometry::pair_filter::{ContactModificationContext, PhysicsHooksFlags}; use crate::geometry::{ BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactData, ContactEvent, - ContactManifoldData, ContactPairFilter, IntersectionEvent, IntersectionPairFilter, - PairFilterContext, RemovedCollider, SolverContact, SolverFlags, + ContactManifoldData, IntersectionEvent, PairFilterContext, PhysicsHooks, RemovedCollider, + SolverContact, SolverFlags, }; use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph}; use crate::math::{Real, Vector}; @@ -387,11 +388,13 @@ impl NarrowPhase { &mut self, bodies: &RigidBodySet, colliders: &ColliderSet, - pair_filter: Option<&dyn IntersectionPairFilter>, + hooks: &dyn PhysicsHooks, events: &dyn EventHandler, ) { let nodes = &self.intersection_graph.graph.nodes; let query_dispatcher = &*self.query_dispatcher; + let active_hooks = hooks.active_hooks(); + par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| { let handle1 = nodes[edge.source().index()].weight; let handle2 = nodes[edge.target().index()].weight; @@ -415,12 +418,15 @@ impl NarrowPhase { return; } - if pair_filter.is_none() && !rb1.is_dynamic() && !rb2.is_dynamic() { + if !active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR) + && !rb1.is_dynamic() + && !rb2.is_dynamic() + { // Default filtering rule: no intersection between two non-dynamic bodies. return; } - if let Some(filter) = pair_filter { + if active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR) { let context = PairFilterContext { rigid_body1: rb1, rigid_body2: rb2, @@ -430,7 +436,7 @@ impl NarrowPhase { collider2: co2, }; - if !filter.filter_intersection_pair(&context) { + if !hooks.filter_intersection_pair(&context) { // No intersection allowed. return; } @@ -458,10 +464,11 @@ impl NarrowPhase { prediction_distance: Real, bodies: &RigidBodySet, colliders: &ColliderSet, - pair_filter: Option<&dyn ContactPairFilter>, + hooks: &dyn PhysicsHooks, events: &dyn EventHandler, ) { let query_dispatcher = &*self.query_dispatcher; + let active_hooks = hooks.active_hooks(); par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| { let pair = &mut edge.weight; @@ -485,12 +492,16 @@ impl NarrowPhase { return; } - if pair_filter.is_none() && !rb1.is_dynamic() && !rb2.is_dynamic() { + if !active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR) + && !rb1.is_dynamic() + && !rb2.is_dynamic() + { // Default filtering rule: no contact between two non-dynamic bodies. return; } - let mut solver_flags = if let Some(filter) = pair_filter { + let mut solver_flags = if active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR) + { let context = PairFilterContext { rigid_body1: rb1, rigid_body2: rb2, @@ -500,7 +511,7 @@ impl NarrowPhase { collider2: co2, }; - if let Some(solver_flags) = filter.filter_contact_pair(&context) { + if let Some(solver_flags) = hooks.filter_contact_pair(&context) { solver_flags } else { // No contact allowed. @@ -566,13 +577,39 @@ impl NarrowPhase { data: contact.data, }; - // TODO: apply the user-defined contact modification/removal, if needed. - manifold.data.solver_contacts.push(solver_contact); has_any_active_contact = true; - continue; } } + + // Apply the user-defined contact modification. + if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS) + && manifold + .data + .solver_flags + .contains(SolverFlags::MODIFY_SOLVER_CONTACTS) + { + let mut modifiable_solver_contacts = + std::mem::replace(&mut manifold.data.solver_contacts, Vec::new()); + let mut modifiable_user_data = manifold.data.user_data; + + let mut context = ContactModificationContext { + rigid_body1: rb1, + rigid_body2: rb2, + collider_handle1: pair.pair.collider1, + collider_handle2: pair.pair.collider2, + collider1: co1, + collider2: co2, + manifold, + solver_contacts: &mut modifiable_solver_contacts, + user_data: &mut modifiable_user_data, + }; + + hooks.modify_solver_contacts(&mut context); + + manifold.data.solver_contacts = modifiable_solver_contacts; + manifold.data.user_data = modifiable_user_data; + } } if has_any_active_contact != pair.has_any_active_contact { diff --git a/src/geometry/pair_filter.rs b/src/geometry/pair_filter.rs index 25f300f..a30145e 100644 --- a/src/geometry/pair_filter.rs +++ b/src/geometry/pair_filter.rs @@ -1,5 +1,5 @@ use crate::dynamics::RigidBody; -use crate::geometry::{Collider, ColliderHandle, SolverFlags}; +use crate::geometry::{Collider, ColliderHandle, ContactManifold, SolverContact, SolverFlags}; /// Context given to custom collision filters to filter-out collisions. pub struct PairFilterContext<'a> { @@ -17,14 +17,54 @@ pub struct PairFilterContext<'a> { pub collider2: &'a Collider, } -/// User-defined filter for potential contact pairs detected by the broad-phase. -/// -/// This can be used to apply custom logic in order to decide whether two colliders -/// should have their contact computed by the narrow-phase, and if these contact -/// should be solved by the constraints solver -pub trait ContactPairFilter: Send + Sync { +pub struct ContactModificationContext<'a> { + /// The first collider involved in the potential collision. + pub rigid_body1: &'a RigidBody, + /// The first collider involved in the potential collision. + pub rigid_body2: &'a RigidBody, + /// The first collider involved in the potential collision. + pub collider_handle1: ColliderHandle, + /// The first collider involved in the potential collision. + pub collider_handle2: ColliderHandle, + /// The first collider involved in the potential collision. + pub collider1: &'a Collider, + /// The first collider involved in the potential collision. + pub collider2: &'a Collider, + /// The contact manifold. + pub manifold: &'a ContactManifold, + /// The solver contacts that can be modified. + pub solver_contacts: &'a mut Vec, + /// User-defined data attached to the manifold. + // NOTE: we keep this a &'a mut u32 to emphasize the + // fact that this can be modified. + pub user_data: &'a mut u32, +} + +bitflags::bitflags! { + #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] + /// Flags affecting the behavior of the constraints solver for a given contact manifold. + pub struct PhysicsHooksFlags: u32 { + /// If set, Rapier will call `PhysicsHooks::filter_contact_pair` whenever relevant. + const FILTER_CONTACT_PAIR = 0b0001; + /// If set, Rapier will call `PhysicsHooks::filter_intersection_pair` whenever relevant. + const FILTER_INTERSECTION_PAIR = 0b0010; + /// If set, Rapier will call `PhysicsHooks::modify_solver_contact` whenever relevant. + const MODIFY_SOLVER_CONTACTS = 0b0100; + } +} + +/// User-defined functions called by the physics engines during one timestep in order to customize its behavior. +pub trait PhysicsHooks: Send + Sync { + /// The sets of hooks that must be taken into account. + fn active_hooks(&self) -> PhysicsHooksFlags; + /// Applies the contact pair filter. /// + /// User-defined filter for potential contact pairs detected by the broad-phase. + /// This can be used to apply custom logic in order to decide whether two colliders + /// should have their contact computed by the narrow-phase, and if these contact + /// should be solved by the constraints solver + /// /// Note that using a contact pair filter will replace the default contact filtering /// which consists of preventing contact computation between two non-dynamic bodies. /// @@ -39,15 +79,14 @@ pub trait ContactPairFilter: Send + Sync { /// `Some(SolverFlags::empty())` then the constraints solver will ignore these /// contacts. fn filter_contact_pair(&self, context: &PairFilterContext) -> Option; -} -/// User-defined filter for potential intersection pairs detected by the broad-phase. -/// -/// This can be used to apply custom logic in order to decide whether two colliders -/// should have their intersection computed by the narrow-phase. -pub trait IntersectionPairFilter: Send + Sync { /// Applies the intersection pair filter. /// + /// User-defined filter for potential intersection pairs detected by the broad-phase. + /// + /// This can be used to apply custom logic in order to decide whether two colliders + /// should have their intersection computed by the narrow-phase. + /// /// Note that using an intersection pair filter will replace the default intersection filtering /// which consists of preventing intersection computation between two non-dynamic bodies. /// @@ -58,4 +97,42 @@ pub trait IntersectionPairFilter: Send + Sync { /// If this return `true` then the narrow-phase will compute intersection /// information for this pair. fn filter_intersection_pair(&self, context: &PairFilterContext) -> bool; + + /// Modifies the set of contacts seen by the constraints solver. + /// + /// By default, the content of `solver_contacts` is computed from `manifold.points`. + /// This method will be called on each contact manifold which have the flag `SolverFlags::MODIFY_CONTACTS` set. + /// This method can be used to modify the set of solver contacts seen by the constraints solver: contacts + /// can be removed and modified. + /// + /// Note that if all the contacts have to be ignored by the constraint solver, you may simply + /// do `context.solver_contacts.clear()`. + /// + /// Modifying the solver contacts allow you to achieve various effects, including: + /// - Simulating conveyor belts by setting the `surface_velocity` of a solver contact. + /// - Simulating shapes with multiply materials by modifying the friction and restitution + /// coefficient depending of the features in contacts. + /// - Simulating one-way platforms depending on the contact normal. + /// + /// Each contact manifold is given a `u32` user-defined data that is persistent between + /// timesteps (as long as the contact manifold exists). This user-defined data is initialized + /// as 0 and can be modified in `context.user_data`. + fn modify_solver_contacts(&self, context: &mut ContactModificationContext); +} + +impl PhysicsHooks for () { + /// The sets of hooks that must be taken into account. + fn active_hooks(&self) -> PhysicsHooksFlags { + PhysicsHooksFlags::empty() + } + + fn filter_contact_pair(&self, _: &PairFilterContext) -> Option { + None + } + + fn filter_intersection_pair(&self, _: &PairFilterContext) -> bool { + false + } + + fn modify_solver_contacts(&self, _: &mut ContactModificationContext) {} } diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs index 866c3a5..6f02d98 100644 --- a/src/pipeline/collision_pipeline.rs +++ b/src/pipeline/collision_pipeline.rs @@ -2,8 +2,7 @@ use crate::dynamics::{JointSet, RigidBodySet}; use crate::geometry::{ - BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactPairFilter, - IntersectionPairFilter, NarrowPhase, + BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase, PhysicsHooks, }; use crate::math::Real; use crate::pipeline::EventHandler; @@ -44,8 +43,7 @@ impl CollisionPipeline { narrow_phase: &mut NarrowPhase, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, - contact_pair_filter: Option<&dyn ContactPairFilter>, - proximity_pair_filter: Option<&dyn IntersectionPairFilter>, + hooks: &dyn PhysicsHooks, events: &dyn EventHandler, ) { bodies.maintain(colliders); @@ -58,14 +56,8 @@ impl CollisionPipeline { narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events); - narrow_phase.compute_contacts( - prediction_distance, - bodies, - colliders, - contact_pair_filter, - events, - ); - narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events); + narrow_phase.compute_contacts(prediction_distance, bodies, colliders, hooks, events); + narrow_phase.compute_intersections(bodies, colliders, hooks, events); bodies.update_active_set_with_contacts( colliders, diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs index 293fa9d..c030b1d 100644 --- a/src/pipeline/physics_pipeline.rs +++ b/src/pipeline/physics_pipeline.rs @@ -7,8 +7,8 @@ use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet}; #[cfg(feature = "parallel")] use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver}; use crate::geometry::{ - BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, - ContactPairFilter, IntersectionPairFilter, NarrowPhase, + BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase, + PhysicsHooks, }; use crate::math::{Real, Vector}; use crate::pipeline::EventHandler; @@ -69,8 +69,7 @@ impl PhysicsPipeline { bodies: &mut RigidBodySet, colliders: &mut ColliderSet, joints: &mut JointSet, - contact_pair_filter: Option<&dyn ContactPairFilter>, - proximity_pair_filter: Option<&dyn IntersectionPairFilter>, + hooks: &dyn PhysicsHooks, events: &dyn EventHandler, ) { self.counters.step_started(); @@ -115,10 +114,10 @@ impl PhysicsPipeline { integration_parameters.prediction_distance, bodies, colliders, - contact_pair_filter, + hooks, events, ); - narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events); + narrow_phase.compute_intersections(bodies, colliders, hooks, events); // println!("Compute contact time: {}", instant::now() - t); self.counters.stages.island_construction_time.start(); -- cgit From 4ca32a9546beca788104041134f0afbe96c5e871 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 23 Feb 2021 15:43:43 +0100 Subject: Add one-way platform + conveyor belt demos. --- src/geometry/pair_filter.rs | 138 --------------------------------------- src/pipeline/physics_hooks.rs | 146 ++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 146 insertions(+), 138 deletions(-) delete mode 100644 src/geometry/pair_filter.rs create mode 100644 src/pipeline/physics_hooks.rs (limited to 'src') diff --git a/src/geometry/pair_filter.rs b/src/geometry/pair_filter.rs deleted file mode 100644 index a30145e..0000000 --- a/src/geometry/pair_filter.rs +++ /dev/null @@ -1,138 +0,0 @@ -use crate::dynamics::RigidBody; -use crate::geometry::{Collider, ColliderHandle, ContactManifold, SolverContact, SolverFlags}; - -/// Context given to custom collision filters to filter-out collisions. -pub struct PairFilterContext<'a> { - /// The first collider involved in the potential collision. - pub rigid_body1: &'a RigidBody, - /// The first collider involved in the potential collision. - pub rigid_body2: &'a RigidBody, - /// The first collider involved in the potential collision. - pub collider_handle1: ColliderHandle, - /// The first collider involved in the potential collision. - pub collider_handle2: ColliderHandle, - /// The first collider involved in the potential collision. - pub collider1: &'a Collider, - /// The first collider involved in the potential collision. - pub collider2: &'a Collider, -} - -pub struct ContactModificationContext<'a> { - /// The first collider involved in the potential collision. - pub rigid_body1: &'a RigidBody, - /// The first collider involved in the potential collision. - pub rigid_body2: &'a RigidBody, - /// The first collider involved in the potential collision. - pub collider_handle1: ColliderHandle, - /// The first collider involved in the potential collision. - pub collider_handle2: ColliderHandle, - /// The first collider involved in the potential collision. - pub collider1: &'a Collider, - /// The first collider involved in the potential collision. - pub collider2: &'a Collider, - /// The contact manifold. - pub manifold: &'a ContactManifold, - /// The solver contacts that can be modified. - pub solver_contacts: &'a mut Vec, - /// User-defined data attached to the manifold. - // NOTE: we keep this a &'a mut u32 to emphasize the - // fact that this can be modified. - pub user_data: &'a mut u32, -} - -bitflags::bitflags! { - #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] - /// Flags affecting the behavior of the constraints solver for a given contact manifold. - pub struct PhysicsHooksFlags: u32 { - /// If set, Rapier will call `PhysicsHooks::filter_contact_pair` whenever relevant. - const FILTER_CONTACT_PAIR = 0b0001; - /// If set, Rapier will call `PhysicsHooks::filter_intersection_pair` whenever relevant. - const FILTER_INTERSECTION_PAIR = 0b0010; - /// If set, Rapier will call `PhysicsHooks::modify_solver_contact` whenever relevant. - const MODIFY_SOLVER_CONTACTS = 0b0100; - } -} - -/// User-defined functions called by the physics engines during one timestep in order to customize its behavior. -pub trait PhysicsHooks: Send + Sync { - /// The sets of hooks that must be taken into account. - fn active_hooks(&self) -> PhysicsHooksFlags; - - /// Applies the contact pair filter. - /// - /// User-defined filter for potential contact pairs detected by the broad-phase. - /// This can be used to apply custom logic in order to decide whether two colliders - /// should have their contact computed by the narrow-phase, and if these contact - /// should be solved by the constraints solver - /// - /// Note that using a contact pair filter will replace the default contact filtering - /// which consists of preventing contact computation between two non-dynamic bodies. - /// - /// This filtering method is called after taking into account the colliders collision groups. - /// - /// If this returns `None`, then the narrow-phase will ignore this contact pair and - /// not compute any contact manifolds for it. - /// If this returns `Some`, then the narrow-phase will compute contact manifolds for - /// this pair of colliders, and configure them with the returned solver flags. For - /// example, if this returns `Some(SolverFlags::COMPUTE_IMPULSES)` then the contacts - /// will be taken into account by the constraints solver. If this returns - /// `Some(SolverFlags::empty())` then the constraints solver will ignore these - /// contacts. - fn filter_contact_pair(&self, context: &PairFilterContext) -> Option; - - /// Applies the intersection pair filter. - /// - /// User-defined filter for potential intersection pairs detected by the broad-phase. - /// - /// This can be used to apply custom logic in order to decide whether two colliders - /// should have their intersection computed by the narrow-phase. - /// - /// Note that using an intersection pair filter will replace the default intersection filtering - /// which consists of preventing intersection computation between two non-dynamic bodies. - /// - /// This filtering method is called after taking into account the colliders collision groups. - /// - /// If this returns `false`, then the narrow-phase will ignore this pair and - /// not compute any intersection information for it. - /// If this return `true` then the narrow-phase will compute intersection - /// information for this pair. - fn filter_intersection_pair(&self, context: &PairFilterContext) -> bool; - - /// Modifies the set of contacts seen by the constraints solver. - /// - /// By default, the content of `solver_contacts` is computed from `manifold.points`. - /// This method will be called on each contact manifold which have the flag `SolverFlags::MODIFY_CONTACTS` set. - /// This method can be used to modify the set of solver contacts seen by the constraints solver: contacts - /// can be removed and modified. - /// - /// Note that if all the contacts have to be ignored by the constraint solver, you may simply - /// do `context.solver_contacts.clear()`. - /// - /// Modifying the solver contacts allow you to achieve various effects, including: - /// - Simulating conveyor belts by setting the `surface_velocity` of a solver contact. - /// - Simulating shapes with multiply materials by modifying the friction and restitution - /// coefficient depending of the features in contacts. - /// - Simulating one-way platforms depending on the contact normal. - /// - /// Each contact manifold is given a `u32` user-defined data that is persistent between - /// timesteps (as long as the contact manifold exists). This user-defined data is initialized - /// as 0 and can be modified in `context.user_data`. - fn modify_solver_contacts(&self, context: &mut ContactModificationContext); -} - -impl PhysicsHooks for () { - /// The sets of hooks that must be taken into account. - fn active_hooks(&self) -> PhysicsHooksFlags { - PhysicsHooksFlags::empty() - } - - fn filter_contact_pair(&self, _: &PairFilterContext) -> Option { - None - } - - fn filter_intersection_pair(&self, _: &PairFilterContext) -> bool { - false - } - - fn modify_solver_contacts(&self, _: &mut ContactModificationContext) {} -} diff --git a/src/pipeline/physics_hooks.rs b/src/pipeline/physics_hooks.rs new file mode 100644 index 0000000..12b658f --- /dev/null +++ b/src/pipeline/physics_hooks.rs @@ -0,0 +1,146 @@ +use crate::dynamics::RigidBody; +use crate::geometry::{Collider, ColliderHandle, ContactManifold, SolverContact, SolverFlags}; + +/// Context given to custom collision filters to filter-out collisions. +pub struct PairFilterContext<'a> { + /// The first collider involved in the potential collision. + pub rigid_body1: &'a RigidBody, + /// The first collider involved in the potential collision. + pub rigid_body2: &'a RigidBody, + /// The first collider involved in the potential collision. + pub collider_handle1: ColliderHandle, + /// The first collider involved in the potential collision. + pub collider_handle2: ColliderHandle, + /// The first collider involved in the potential collision. + pub collider1: &'a Collider, + /// The first collider involved in the potential collision. + pub collider2: &'a Collider, +} + +pub struct ContactModificationContext<'a> { + /// The first collider involved in the potential collision. + pub rigid_body1: &'a RigidBody, + /// The first collider involved in the potential collision. + pub rigid_body2: &'a RigidBody, + /// The first collider involved in the potential collision. + pub collider_handle1: ColliderHandle, + /// The first collider involved in the potential collision. + pub collider_handle2: ColliderHandle, + /// The first collider involved in the potential collision. + pub collider1: &'a Collider, + /// The first collider involved in the potential collision. + pub collider2: &'a Collider, + /// The contact manifold. + pub manifold: &'a ContactManifold, + /// The solver contacts that can be modified. + pub solver_contacts: &'a mut Vec, + /// User-defined data attached to the manifold. + // NOTE: we keep this a &'a mut u32 to emphasize the + // fact that this can be modified. + pub user_data: &'a mut u32, +} + +bitflags::bitflags! { + #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] + /// Flags affecting the behavior of the constraints solver for a given contact manifold. + pub struct PhysicsHooksFlags: u32 { + /// If set, Rapier will call `PhysicsHooks::filter_contact_pair` whenever relevant. + const FILTER_CONTACT_PAIR = 0b0001; + /// If set, Rapier will call `PhysicsHooks::filter_intersection_pair` whenever relevant. + const FILTER_INTERSECTION_PAIR = 0b0010; + /// If set, Rapier will call `PhysicsHooks::modify_solver_contact` whenever relevant. + const MODIFY_SOLVER_CONTACTS = 0b0100; + } +} + +/// User-defined functions called by the physics engines during one timestep in order to customize its behavior. +pub trait PhysicsHooks: Send + Sync { + /// The sets of hooks that must be taken into account. + fn active_hooks(&self) -> PhysicsHooksFlags; + + /// Applies the contact pair filter. + /// + /// Note that this method will only be called if `self.active_hooks()` + /// contains the `PhysicsHooksFlags::FILTER_CONTACT_PAIR` flags. + /// + /// User-defined filter for potential contact pairs detected by the broad-phase. + /// This can be used to apply custom logic in order to decide whether two colliders + /// should have their contact computed by the narrow-phase, and if these contact + /// should be solved by the constraints solver + /// + /// Note that using a contact pair filter will replace the default contact filtering + /// which consists of preventing contact computation between two non-dynamic bodies. + /// + /// This filtering method is called after taking into account the colliders collision groups. + /// + /// If this returns `None`, then the narrow-phase will ignore this contact pair and + /// not compute any contact manifolds for it. + /// If this returns `Some`, then the narrow-phase will compute contact manifolds for + /// this pair of colliders, and configure them with the returned solver flags. For + /// example, if this returns `Some(SolverFlags::COMPUTE_IMPULSES)` then the contacts + /// will be taken into account by the constraints solver. If this returns + /// `Some(SolverFlags::empty())` then the constraints solver will ignore these + /// contacts. + fn filter_contact_pair(&self, context: &PairFilterContext) -> Option; + + /// Applies the intersection pair filter. + /// + /// Note that this method will only be called if `self.active_hooks()` + /// contains the `PhysicsHooksFlags::FILTER_INTERSECTION_PAIR` flags. + /// + /// User-defined filter for potential intersection pairs detected by the broad-phase. + /// + /// This can be used to apply custom logic in order to decide whether two colliders + /// should have their intersection computed by the narrow-phase. + /// + /// Note that using an intersection pair filter will replace the default intersection filtering + /// which consists of preventing intersection computation between two non-dynamic bodies. + /// + /// This filtering method is called after taking into account the colliders collision groups. + /// + /// If this returns `false`, then the narrow-phase will ignore this pair and + /// not compute any intersection information for it. + /// If this return `true` then the narrow-phase will compute intersection + /// information for this pair. + fn filter_intersection_pair(&self, context: &PairFilterContext) -> bool; + + /// Modifies the set of contacts seen by the constraints solver. + /// + /// Note that this method will only be called if `self.active_hooks()` + /// contains the `PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS` flags. + /// + /// By default, the content of `solver_contacts` is computed from `manifold.points`. + /// This method will be called on each contact manifold which have the flag `SolverFlags::MODIFY_CONTACTS` set. + /// This method can be used to modify the set of solver contacts seen by the constraints solver: contacts + /// can be removed and modified. + /// + /// Note that if all the contacts have to be ignored by the constraint solver, you may simply + /// do `context.solver_contacts.clear()`. + /// + /// Modifying the solver contacts allow you to achieve various effects, including: + /// - Simulating conveyor belts by setting the `surface_velocity` of a solver contact. + /// - Simulating shapes with multiply materials by modifying the friction and restitution + /// coefficient depending of the features in contacts. + /// - Simulating one-way platforms depending on the contact normal. + /// + /// Each contact manifold is given a `u32` user-defined data that is persistent between + /// timesteps (as long as the contact manifold exists). This user-defined data is initialized + /// as 0 and can be modified in `context.user_data`. + fn modify_solver_contacts(&self, context: &mut ContactModificationContext); +} + +impl PhysicsHooks for () { + fn active_hooks(&self) -> PhysicsHooksFlags { + PhysicsHooksFlags::empty() + } + + fn filter_contact_pair(&self, _: &PairFilterContext) -> Option { + None + } + + fn filter_intersection_pair(&self, _: &PairFilterContext) -> bool { + false + } + + fn modify_solver_contacts(&self, _: &mut ContactModificationContext) {} +} -- cgit From 3fdb4cd6d3468733056e886c991bae551a83240d Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 23 Feb 2021 15:47:24 +0100 Subject: Properly take the tangent_velocity into account in the velocity solver. --- src/dynamics/solver/velocity_constraint.rs | 5 +++-- src/dynamics/solver/velocity_constraint_wide.rs | 4 +++- src/dynamics/solver/velocity_ground_constraint.rs | 12 +++++++----- src/dynamics/solver/velocity_ground_constraint_wide.rs | 15 +++++++++------ 4 files changed, 22 insertions(+), 14 deletions(-) (limited to 'src') diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 63139cc..3a751df 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -273,7 +273,8 @@ impl VelocityConstraint { + rb2.effective_inv_mass + gcross1.gdot(gcross1) + gcross2.gdot(gcross2)); - let rhs = (vel1 - vel2).dot(&tangents1[j]); + let rhs = + (vel1 - vel2 + manifold_point.tangent_velocity).dot(&tangents1[j]); #[cfg(feature = "dim2")] let impulse = manifold_point.data.tangent_impulse * warmstart_coeff; #[cfg(feature = "dim3")] @@ -391,7 +392,7 @@ impl VelocityConstraint { active_contact.data.impulse = self.elements[k].normal_part.impulse; #[cfg(feature = "dim2")] { - active_contacts.data.tangent_impulse = self.elements[k].tangent_part[0].impulse; + active_contact.data.tangent_impulse = self.elements[k].tangent_part[0].impulse; } #[cfg(feature = "dim3")] { diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index 8838011..97fa261 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -130,6 +130,8 @@ impl WVelocityConstraint { ); let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]); let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]); + let tangent_velocity = + Vector::from(array![|ii| manifold_points[ii][k].tangent_velocity; SIMD_WIDTH]); let impulse = SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]); @@ -181,7 +183,7 @@ impl WVelocityConstraint { let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j])); let r = SimdReal::splat(1.0) / (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2)); - let rhs = (vel1 - vel2).dot(&tangents1[j]); + let rhs = (vel1 - vel2 + tangent_velocity).dot(&tangents1[j]); constraint.elements[k].tangent_parts[j] = WVelocityConstraintElementPart { gcross1, diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 6f61b17..ddd5628 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -68,11 +68,11 @@ impl VelocityGroundConstraint { let mut rb2 = &bodies[manifold.data.body_pair.body2]; let flipped = !rb2.is_dynamic(); - let force_dir1 = if flipped { + let (force_dir1, flipped_multiplier) = if flipped { std::mem::swap(&mut rb1, &mut rb2); - manifold.data.normal + (manifold.data.normal, -1.0) } else { - -manifold.data.normal + (-manifold.data.normal, 1.0) }; let mj_lambda2 = rb2.active_set_offset; @@ -123,7 +123,7 @@ impl VelocityGroundConstraint { .as_nongrouped_ground_mut() .unwrap() } else { - unreachable!(); // We don't have parallelization on WASM yet, so this is unreachable. + unreachable!(); // We don't have parallelization on WASM yet, so this is unreachable. }; #[cfg(target_arch = "wasm32")] @@ -179,7 +179,9 @@ impl VelocityGroundConstraint { .effective_world_inv_inertia_sqrt .transform_vector(dp2.gcross(-tangents1[j])); let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2)); - let rhs = -vel2.dot(&tangents1[j]) + vel1.dot(&tangents1[j]); + let rhs = (vel1 - vel2 + + flipped_multiplier * manifold_point.tangent_velocity) + .dot(&tangents1[j]); #[cfg(feature = "dim2")] let impulse = manifold_points[k].data.tangent_impulse * warmstart_coeff; #[cfg(feature = "dim3")] diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs index 6f279d8..6e7216a 100644 --- a/src/dynamics/solver/velocity_ground_constraint_wide.rs +++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs @@ -66,15 +66,17 @@ impl WVelocityGroundConstraint { let inv_dt = SimdReal::splat(params.inv_dt()); let mut rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH]; let mut rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH]; - let mut flipped = [false; SIMD_WIDTH]; + let mut flipped = [1.0; SIMD_WIDTH]; for ii in 0..SIMD_WIDTH { if !rbs2[ii].is_dynamic() { std::mem::swap(&mut rbs1[ii], &mut rbs2[ii]); - flipped[ii] = true; + flipped[ii] = -1.0; } } + let flipped_sign = SimdReal::from(flipped); + let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]); let ii2: AngularInertia = AngularInertia::from( array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH], @@ -89,9 +91,8 @@ impl WVelocityGroundConstraint { let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]); let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]); - let force_dir1 = Vector::from( - array![|ii| if flipped[ii] { manifolds[ii].data.normal } else { -manifolds[ii].data.normal }; SIMD_WIDTH], - ); + let normal1 = Vector::from(array![|ii| manifolds[ii].data.normal; SIMD_WIDTH]); + let force_dir1 = normal1 * -flipped_sign; let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH]; @@ -125,6 +126,8 @@ impl WVelocityGroundConstraint { ); let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]); let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]); + let tangent_velocity = + Vector::from(array![|ii| manifold_points[ii][k].tangent_velocity; SIMD_WIDTH]); let impulse = SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]); @@ -170,7 +173,7 @@ impl WVelocityGroundConstraint { let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j])); let r = SimdReal::splat(1.0) / (im2 + gcross2.gdot(gcross2)); - let rhs = -vel2.dot(&tangents1[j]) + vel1.dot(&tangents1[j]); + let rhs = (vel1 - vel2 + tangent_velocity * flipped_sign).dot(&tangents1[j]); constraint.elements[k].tangent_parts[j] = WVelocityGroundConstraintElementPart { -- cgit From b3405e56721dac2ebb22a7709cb7430fde7b4859 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 23 Feb 2021 15:47:44 +0100 Subject: Add a method to modify all the active dynamic bodies on the RigidBodySet. --- src/dynamics/rigid_body_set.rs | 42 ++++++++++++++++++++++++++++++++++++++---- 1 file changed, 38 insertions(+), 4 deletions(-) (limited to 'src') diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs index 79d5827..f459d4f 100644 --- a/src/dynamics/rigid_body_set.rs +++ b/src/dynamics/rigid_body_set.rs @@ -234,13 +234,27 @@ impl RigidBodySet { self.bodies.get(handle.0) } + fn mark_as_modified( + handle: RigidBodyHandle, + rb: &mut RigidBody, + modified_bodies: &mut Vec, + modified_all_bodies: bool, + ) { + if !modified_all_bodies && !rb.changes.contains(RigidBodyChanges::MODIFIED) { + rb.changes = RigidBodyChanges::MODIFIED; + modified_bodies.push(handle); + } + } + /// Gets a mutable reference to the rigid-body with the given handle. pub fn get_mut(&mut self, handle: RigidBodyHandle) -> Option<&mut RigidBody> { let result = self.bodies.get_mut(handle.0)?; - if !self.modified_all_bodies && !result.changes.contains(RigidBodyChanges::MODIFIED) { - result.changes = RigidBodyChanges::MODIFIED; - self.modified_bodies.push(handle); - } + Self::mark_as_modified( + handle, + result, + &mut self.modified_bodies, + self.modified_all_bodies, + ); Some(result) } @@ -300,6 +314,26 @@ impl RigidBodySet { .filter_map(move |h| Some((*h, bodies.get(h.0)?))) } + /// Applies the given function on all the active dynamic rigid-bodies + /// contained by this set. + #[inline(always)] + pub fn foreach_active_dynamic_body_mut( + &mut self, + mut f: impl FnMut(RigidBodyHandle, &mut RigidBody), + ) { + for handle in &self.active_dynamic_set { + if let Some(rb) = self.bodies.get_mut(handle.0) { + Self::mark_as_modified( + *handle, + rb, + &mut self.modified_bodies, + self.modified_all_bodies, + ); + f(*handle, rb) + } + } + } + #[inline(always)] pub(crate) fn foreach_active_body_mut_internal( &mut self, -- cgit From f8bf96fdc8a0cfd7324d589736d41057a6c1bfe8 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 23 Feb 2021 15:48:04 +0100 Subject: Add a helper function for one-way platforms. --- src/pipeline/physics_hooks.rs | 75 ++++++++++++++++++++++++++++++++++++++-- src/pipeline/physics_pipeline.rs | 3 +- 2 files changed, 73 insertions(+), 5 deletions(-) (limited to 'src') diff --git a/src/pipeline/physics_hooks.rs b/src/pipeline/physics_hooks.rs index 12b658f..d7b7b7e 100644 --- a/src/pipeline/physics_hooks.rs +++ b/src/pipeline/physics_hooks.rs @@ -1,5 +1,7 @@ use crate::dynamics::RigidBody; use crate::geometry::{Collider, ColliderHandle, ContactManifold, SolverContact, SolverFlags}; +use crate::math::{Real, Vector}; +use na::ComplexField; /// Context given to custom collision filters to filter-out collisions. pub struct PairFilterContext<'a> { @@ -17,6 +19,7 @@ pub struct PairFilterContext<'a> { pub collider2: &'a Collider, } +/// Context given to custom contact modifiers to modify the contacts seen by the constrainst solver. pub struct ContactModificationContext<'a> { /// The first collider involved in the potential collision. pub rigid_body1: &'a RigidBody, @@ -40,6 +43,68 @@ pub struct ContactModificationContext<'a> { pub user_data: &'a mut u32, } +impl<'a> ContactModificationContext<'a> { + /// Helper function to update `self` to emulate a oneway-platform. + /// + /// The "oneway" behavior will only allow contacts between two colliders + /// if the local contact normal of the first collider involved in the contact + /// is almost aligned with the provided `allowed_local_n1` direction. + /// + /// To make this method work properly it must be called as part of the + /// `PhysicsHooks::modify_solver_contacts` method at each timestep, for each + /// contact manifold involving a one-way platform. The `self.user_data` field + /// must not be modified from the outside of this method. + pub fn update_as_oneway_platform( + &mut self, + allowed_local_n1: &Vector, + allowed_angle: Real, + ) { + const CONTACT_CONFIGURATION_UNKNOWN: u32 = 0; + const CONTACT_CURRENTLY_ALLOWED: u32 = 1; + const CONTACT_CURRENTLY_FORBIDDEN: u32 = 2; + + let cang = ComplexField::cos(allowed_angle); + + // Test the allowed normal with the local-space contact normal that + // points towards the exterior of context.collider1. + let contact_is_ok = self.manifold.local_n1.dot(&allowed_local_n1) >= cang; + + match *self.user_data { + CONTACT_CONFIGURATION_UNKNOWN => { + if contact_is_ok { + // The contact is close enough to the allowed normal. + *self.user_data = CONTACT_CURRENTLY_ALLOWED; + } else { + // The contact normal isn't close enough to the allowed + // normal, so remove all the contacts and mark further contacts + // as forbidden. + self.solver_contacts.clear(); + *self.user_data = CONTACT_CURRENTLY_FORBIDDEN; + } + } + CONTACT_CURRENTLY_FORBIDDEN => { + // Contacts are forbidden so we need to continue forbidding contacts + // until all the contacts are non-penetrating again. In that case, if + // the contacts are OK wrt. the contact normal, then we can mark them as allowed. + if contact_is_ok && self.solver_contacts.iter().all(|c| c.dist > 0.0) { + *self.user_data = CONTACT_CURRENTLY_ALLOWED; + } else { + // Discard all the contacts. + self.solver_contacts.clear(); + } + } + CONTACT_CURRENTLY_ALLOWED => { + // We allow all the contacts right now. The configuration becomes + // uncertain again when the contact manifold no longer contains any contact. + if self.solver_contacts.is_empty() { + *self.user_data = CONTACT_CONFIGURATION_UNKNOWN; + } + } + _ => unreachable!(), + } + } +} + bitflags::bitflags! { #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] /// Flags affecting the behavior of the constraints solver for a given contact manifold. @@ -81,7 +146,9 @@ pub trait PhysicsHooks: Send + Sync { /// will be taken into account by the constraints solver. If this returns /// `Some(SolverFlags::empty())` then the constraints solver will ignore these /// contacts. - fn filter_contact_pair(&self, context: &PairFilterContext) -> Option; + fn filter_contact_pair(&self, _context: &PairFilterContext) -> Option { + None + } /// Applies the intersection pair filter. /// @@ -102,7 +169,9 @@ pub trait PhysicsHooks: Send + Sync { /// not compute any intersection information for it. /// If this return `true` then the narrow-phase will compute intersection /// information for this pair. - fn filter_intersection_pair(&self, context: &PairFilterContext) -> bool; + fn filter_intersection_pair(&self, _context: &PairFilterContext) -> bool { + false + } /// Modifies the set of contacts seen by t