nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #267 from dimforge/multibody

Browse Source 
Implement multibody joints, and new velocity-based constraints solver
This commit is contained in:
Sébastien Crozet
2022-01-02 18:05:50 +01:00
committed by GitHub
parent 8e7da5ad45 9f9d329360
commit 1308db8994
182 changed files with 9924 additions and 12653 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
src/geometry/broad_phase_multi_sap/broad_phase.rs
View File

@@ -80,7 +80,6 @@ pub struct BroadPhase {
layers: Vec<SAPLayer>,
smallest_layer: u8,
largest_layer: u8,
deleted_any: bool,
// NOTE: we maintain this hashmap to simplify collider removal.
// This information is also present in the ColliderProxyId
// component. However if that component is removed, we need
@@ -133,7 +132,6 @@ impl BroadPhase {
region_pool: Vec::new(),
reporting: HashMap::default(),
colliders_proxy_ids: HashMap::default(),
deleted_any: false,
}
}
@@ -622,7 +620,9 @@ impl BroadPhase {
#[cfg(test)]
mod test {
use crate::dynamics::{IslandManager, JointSet, RigidBodyBuilder, RigidBodySet};
use crate::dynamics::{
ImpulseJointSet, IslandManager, MultibodyJointSet, RigidBodyBuilder, RigidBodySet,
};
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet};
#[test]
@@ -630,7 +630,8 @@ mod test {
let mut broad_phase = BroadPhase::new();
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut islands = IslandManager::new();
let rb = RigidBodyBuilder::new_dynamic().build();
@@ -641,7 +642,13 @@ mod test {
let mut events = Vec::new();
broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
bodies.remove(hrb, &mut islands, &mut colliders, &mut joints);
bodies.remove(
hrb,
&mut islands,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
);
broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
// Create another body.

55
src/geometry/contact_pair.rs
View File

@@ -35,8 +35,6 @@ pub struct ContactData {
/// collider's rigid-body.
#[cfg(feature = "dim3")]
pub tangent_impulse: na::Vector2<Real>,
/// The target velocity correction at the contact point.
pub rhs: Real,
}
impl Default for ContactData {
@@ -44,7 +42,6 @@ impl Default for ContactData {
Self {
impulse: 0.0,
tangent_impulse: na::zero(),
rhs: 0.0,
}
}
}
@@ -119,12 +116,9 @@ pub struct ContactManifoldData {
pub rigid_body1: Option<RigidBodyHandle>,
/// The second rigid-body involved in this contact manifold.
pub rigid_body2: Option<RigidBodyHandle>,
pub(crate) warmstart_multiplier: Real,
// The two following are set by the constraints solver.
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub(crate) constraint_index: usize,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub(crate) position_constraint_index: usize,
// We put the following fields here to avoids reading the colliders inside of the
// contact preparation method.
/// Flags used to control some aspects of the constraints solver for this contact manifold.
@@ -177,26 +171,15 @@ pub struct SolverContact {
/// This is set to zero by default. Set to a non-zero value to
/// simulate, e.g., conveyor belts.
pub tangent_velocity: Vector<Real>,
/// The warmstart impulse, along the contact normal, applied by this contact to the first collider's rigid-body.
pub warmstart_impulse: Real,
/// The warmstart friction impulse along the vector orthonormal to the contact normal, applied to the first
/// collider's rigid-body.
#[cfg(feature = "dim2")]
pub warmstart_tangent_impulse: Real,
/// The warmstart friction impulses along the basis orthonormal to the contact normal, applied to the first
/// collider's rigid-body.
#[cfg(feature = "dim3")]
pub warmstart_tangent_impulse: na::Vector2<Real>,
/// The last velocity correction targeted by this contact.
pub prev_rhs: Real,
/// Whether or not this contact existed during the last timestep.
pub is_new: bool,
}
impl SolverContact {
/// Should we treat this contact as a bouncy contact?
/// If `true`, use [`Self::restitution`].
pub fn is_bouncy(&self) -> bool {
let is_new = self.warmstart_impulse == 0.0;
if is_new {
if self.is_new {
// Treat new collisions as bouncing at first, unless we have zero restitution.
self.restitution > 0.0
} else {
@@ -222,9 +205,7 @@ impl ContactManifoldData {
Self {
rigid_body1,
rigid_body2,
warmstart_multiplier: Self::min_warmstart_multiplier(),
constraint_index: 0,
position_constraint_index: 0,
solver_flags,
normal: Vector::zeros(),
solver_contacts: Vec::new(),
@@ -239,34 +220,4 @@ impl ContactManifoldData {
pub fn num_active_contacts(&self) -> usize {
self.solver_contacts.len()
}
pub(crate) fn min_warmstart_multiplier() -> Real {
// Multiplier used to reduce the amount of warm-starting.
// This coefficient increases exponentially over time, until it reaches 1.0.
// This will reduce significant overshoot at the timesteps that
// follow a timestep involving high-velocity impacts.
1.0 // 0.01
}
// pub(crate) fn update_warmstart_multiplier(manifold: &mut ContactManifold) {
// // In 2D, tall stacks will actually suffer from this
// // because oscillation due to inaccuracies in 2D often
// // cause contacts to break, which would result in
// // a reset of the warmstart multiplier.
// if cfg!(feature = "dim2") {
// manifold.data.warmstart_multiplier = 1.0;
// return;
// }
//
// for pt in &manifold.points {
// if pt.data.impulse != 0.0 {
// manifold.data.warmstart_multiplier =
// (manifold.data.warmstart_multiplier * 2.0).min(1.0);
// return;
// }
// }
//
// // Reset the multiplier.
// manifold.data.warmstart_multiplier = Self::min_warmstart_multiplier()
// }
}

6
src/geometry/narrow_phase.rs
View File

@@ -968,9 +968,7 @@ impl NarrowPhase {
friction,
restitution,
tangent_velocity: Vector::zeros(),
warmstart_impulse: contact.data.impulse,
warmstart_tangent_impulse: contact.data.tangent_impulse,
prev_rhs: contact.data.rhs,
is_new: contact.data.impulse == 0.0,
};
manifold.data.solver_contacts.push(solver_contact);
@@ -1027,7 +1025,7 @@ impl NarrowPhase {
}
/// Retrieve all the interactions with at least one contact point, happening between two active bodies.
// NOTE: this is very similar to the code from JointSet::select_active_interactions.
// NOTE: this is very similar to the code from ImpulseJointSet::select_active_interactions.
pub(crate) fn select_active_contacts<'a, Bodies>(
&'a mut self,
islands: &IslandManager,