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Remove the IntegrationParameters field we don't use.

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This commit is contained in:
Crozet Sébastien
2021-03-31 18:41:02 +02:00
parent a484511718
commit 1b073e98b4
2 changed files with 15 additions and 68 deletions
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59
src/dynamics/integration_parameters.rs
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@@ -26,9 +26,9 @@ pub struct IntegrationParameters {
// /// Note that using only one thread with `multithreading_enabled` set to `true` will result on a slower // /// Note that using only one thread with `multithreading_enabled` set to `true` will result on a slower
// /// simulation than setting `multithreading_enabled` to `false`. // /// simulation than setting `multithreading_enabled` to `false`.
// pub multithreading_enabled: bool, // pub multithreading_enabled: bool,
/// If `true`, the world's `step` method will stop right after resolving exactly one CCD event (default: `false`). // /// If `true`, the world's `step` method will stop right after resolving exactly one CCD event (default: `false`).
/// This allows the user to take action during a timestep, in-between two CCD events. // /// This allows the user to take action during a timestep, in-between two CCD events.
pub return_after_ccd_substep: bool, // pub return_after_ccd_substep: bool,
/// The Error Reduction Parameter in `[0, 1]` is the proportion of /// The Error Reduction Parameter in `[0, 1]` is the proportion of
/// the positional error to be corrected at each time step (default: `0.2`). /// the positional error to be corrected at each time step (default: `0.2`).
pub erp: Real, pub erp: Real,
@@ -64,49 +64,14 @@ pub struct IntegrationParameters {
pub max_linear_correction: Real, pub max_linear_correction: Real,
/// Maximum angular correction during one step of the non-linear position solver (default: `0.2`). /// Maximum angular correction during one step of the non-linear position solver (default: `0.2`).
pub max_angular_correction: Real, pub max_angular_correction: Real,
/// Maximum nonlinear SOR-prox scaling parameter when the constraint
/// correction direction is close to the kernel of the involved multibody's
/// jacobian (default: `0.2`).
pub max_stabilization_multiplier: Real,
/// Maximum number of iterations performed by the velocity constraints solver (default: `4`). /// Maximum number of iterations performed by the velocity constraints solver (default: `4`).
pub max_velocity_iterations: usize, pub max_velocity_iterations: usize,
/// Maximum number of iterations performed by the position-based constraints solver (default: `1`). /// Maximum number of iterations performed by the position-based constraints solver (default: `1`).
pub max_position_iterations: usize, pub max_position_iterations: usize,
/// Minimum number of dynamic bodies in each active island (default: `128`). /// Minimum number of dynamic bodies in each active island (default: `128`).
pub min_island_size: usize, pub min_island_size: usize,
/// Maximum number of iterations performed by the position-based constraints solver for CCD steps (default: `10`).
///
/// This should be sufficiently high so all penetration get resolved. For example, if CCD cause your
/// objects to stutter, that may be because the number of CCD position iterations is too low, causing
/// them to remain stuck in a penetration configuration for a few frames.
///
/// The higher this number, the higher its computational cost.
pub max_ccd_position_iterations: usize,
/// Maximum number of substeps performed by the solver (default: `1`). /// Maximum number of substeps performed by the solver (default: `1`).
pub max_ccd_substeps: usize, pub max_ccd_substeps: usize,
/// Controls the number of Proximity::Intersecting events generated by a trigger during CCD resolution (default: `false`).
///
/// If false, triggers will only generate one Proximity::Intersecting event during a step, even
/// if another colliders repeatedly enters and leaves the triggers during multiple CCD substeps.
///
/// If true, triggers will generate as many Proximity::Intersecting and Proximity::Disjoint/Proximity::WithinMargin
/// events as the number of times a collider repeatedly enters and leaves the triggers during multiple CCD substeps.
/// This is more computationally intensive.
pub multiple_ccd_substep_sensor_events_enabled: bool,
/// Whether penetration are taken into account in CCD resolution (default: `false`).
///
/// If this is set to `false` two penetrating colliders will not be considered to have any time of impact
/// while they are penetrating. This may end up allowing some tunelling, but will avoid stuttering effect
/// when the constraints solver fails to completely separate two colliders after a CCD contact.
///
/// If this is set to `true`, two penetrating colliders will be considered to have a time of impact
/// equal to 0 until the constraints solver manages to separate them. This will prevent tunnelling
/// almost completely, but may introduce stuttering effects when the constraints solver fails to completely
/// separate two colliders after a CCD contact.
// FIXME: this is a very binary way of handling penetration.
// We should provide a more flexible solution by letting the user choose some
// minimal amount of movement applied to an object that get stuck.
pub ccd_on_penetration_enabled: bool,
} }
impl IntegrationParameters { impl IntegrationParameters {
@@ -114,28 +79,20 @@ impl IntegrationParameters {
#[deprecated = "Use `IntegrationParameters { dt: 60.0, ..Default::default() }` instead"] #[deprecated = "Use `IntegrationParameters { dt: 60.0, ..Default::default() }` instead"]
pub fn new( pub fn new(
dt: Real, dt: Real,
// multithreading_enabled: bool,
erp: Real, erp: Real,
joint_erp: Real, joint_erp: Real,
warmstart_coeff: Real, warmstart_coeff: Real,
_restitution_velocity_threshold: Real,
allowed_linear_error: Real, allowed_linear_error: Real,
allowed_angular_error: Real, allowed_angular_error: Real,
max_linear_correction: Real, max_linear_correction: Real,
max_angular_correction: Real, max_angular_correction: Real,
prediction_distance: Real, prediction_distance: Real,
max_stabilization_multiplier: Real,
max_velocity_iterations: usize, max_velocity_iterations: usize,
max_position_iterations: usize, max_position_iterations: usize,
max_ccd_position_iterations: usize,
max_ccd_substeps: usize, max_ccd_substeps: usize,
return_after_ccd_substep: bool,
multiple_ccd_substep_sensor_events_enabled: bool,
ccd_on_penetration_enabled: bool,
) -> Self { ) -> Self {
IntegrationParameters { IntegrationParameters {
dt, dt,
// multithreading_enabled,
erp, erp,
joint_erp, joint_erp,
warmstart_coeff, warmstart_coeff,
@@ -144,14 +101,9 @@ impl IntegrationParameters {
max_linear_correction, max_linear_correction,
max_angular_correction, max_angular_correction,
prediction_distance, prediction_distance,
max_stabilization_multiplier,
max_velocity_iterations, max_velocity_iterations,
max_position_iterations, max_position_iterations,
max_ccd_position_iterations,
max_ccd_substeps, max_ccd_substeps,
return_after_ccd_substep,
multiple_ccd_substep_sensor_events_enabled,
ccd_on_penetration_enabled,
..Default::default() ..Default::default()
} }
} }
@@ -208,7 +160,6 @@ impl Default for IntegrationParameters {
dt: 1.0 / 60.0, dt: 1.0 / 60.0,
min_ccd_dt: 1.0 / 60.0 / 100.0, min_ccd_dt: 1.0 / 60.0 / 100.0,
// multithreading_enabled: true, // multithreading_enabled: true,
return_after_ccd_substep: false,
erp: 0.2, erp: 0.2,
joint_erp: 0.2, joint_erp: 0.2,
velocity_solve_fraction: 1.0, velocity_solve_fraction: 1.0,
@@ -220,7 +171,6 @@ impl Default for IntegrationParameters {
allowed_angular_error: 0.001, allowed_angular_error: 0.001,
max_linear_correction: 0.2, max_linear_correction: 0.2,
max_angular_correction: 0.2, max_angular_correction: 0.2,
max_stabilization_multiplier: 0.2,
max_velocity_iterations: 4, max_velocity_iterations: 4,
max_position_iterations: 1, max_position_iterations: 1,
// FIXME: what is the optimal value for min_island_size? // FIXME: what is the optimal value for min_island_size?
@@ -229,10 +179,7 @@ impl Default for IntegrationParameters {
// However we don't want it to be too small and end up with // However we don't want it to be too small and end up with
// tons of islands, reducing SIMD parallelism opportunities. // tons of islands, reducing SIMD parallelism opportunities.
min_island_size: 128, min_island_size: 128,
max_ccd_position_iterations: 10,
max_ccd_substeps: 1, max_ccd_substeps: 1,
multiple_ccd_substep_sensor_events_enabled: false,
ccd_on_penetration_enabled: false,
} }
} }
} }

24
src_testbed/testbed.rs
View File

@@ -1215,18 +1215,18 @@ impl State for Testbed {
} }
} }
if self // if self
.state // .state
.prev_flags // .prev_flags
.contains(TestbedStateFlags::SUB_STEPPING) // .contains(TestbedStateFlags::SUB_STEPPING)
!= self.state.flags.contains(TestbedStateFlags::SUB_STEPPING) // != self.state.flags.contains(TestbedStateFlags::SUB_STEPPING)
{ // {
self.harness // self.harness
.physics // .physics
.integration_parameters // .integration_parameters
.return_after_ccd_substep = // .return_after_ccd_substep =
self.state.flags.contains(TestbedStateFlags::SUB_STEPPING); // self.state.flags.contains(TestbedStateFlags::SUB_STEPPING);
} // }
if self.state.prev_flags.contains(TestbedStateFlags::SHAPES) if self.state.prev_flags.contains(TestbedStateFlags::SHAPES)
!= self.state.flags.contains(TestbedStateFlags::SHAPES) != self.state.flags.contains(TestbedStateFlags::SHAPES)