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Fix some solver issues

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- Fix the wrong codepath taken  by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
This commit is contained in:
Sébastien Crozet
2022-01-16 16:40:59 +01:00
parent 4454a845e9
commit 0703e5527f
43 changed files with 936 additions and 229 deletions
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30
src_testbed/graphics.rs
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@@ -2,10 +2,10 @@ use bevy::prelude::*;
use na::{point, Point3};
use crate::math::Isometry;
use crate::objects::node::EntityWithGraphics;
use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
use rapier::math::{Isometry, Real};
//use crate::objects::capsule::Capsule;
//#[cfg(feature = "dim3")]
//use crate::objects::mesh::Mesh;
@@ -301,8 +301,8 @@ impl GraphicsManager {
handle: Option<ColliderHandle>,
shape: &dyn Shape,
sensor: bool,
pos: &Isometry<f32>,
delta: &Isometry<f32>,
pos: &Isometry<Real>,
delta: &Isometry<Real>,
color: Point3<f32>,
out: &mut Vec<EntityWithGraphics>,
) {
@@ -347,18 +347,24 @@ impl GraphicsManager {
_bodies: &RigidBodySet,
colliders: &ColliderSet,
components: &mut Query<(&mut Transform,)>,
_materials: &mut Assets<BevyMaterial>,
) {
for (_, ns) in self.b2sn.iter_mut() {
for n in ns.iter_mut() {
// if let Some(co) = colliders.get(n.collider()) {
// let bo = &_bodies[co.parent()];
//
// if bo.is_dynamic() {
// if bo.is_ccd_active() {
// n.set_color(point![1.0, 0.0, 0.0]);
// } else {
// n.set_color(point![0.0, 1.0, 0.0]);
// }
// if let Some(bo) = n
// .collider
// .and_then(|h| bodies.get(colliders.get(h)?.parent()?))
// {
// if bo.activation().time_since_can_sleep
// >= RigidBodyActivation::default_time_until_sleep()
// {
// n.set_color(materials, point![1.0, 0.0, 0.0]);
// }
// /* else if bo.activation().energy < bo.activation().threshold {
// n.set_color(materials, point![0.0, 0.0, 1.0]);
// } */
// else {
// n.set_color(materials, point![0.0, 1.0, 0.0]);
// }
// }