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feat: persistent islands + manifold reduction (#895)

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* feat: initial implementation of contact manifold reduction

* feat: try bepu-like manifold reduction

* feat: simplification of the constraints counting and indexing logic

* feat: add concept of incremental islands with a single awake island

More islands manager fixes

* feat: start adding support for multiple awake islands

* feat: add more timings

* feat: implement incremental island split & merge

* chore: refactor islands manager into multiple files

* chore: refactor manifold reduction to its own file + add naive reduction method

* feat: add islands manager validation checks

* fix various bugs in the new islands system

* chore: remove redundant active_set_offset field
This commit is contained in:
Sébastien Crozet
2026-01-09 17:04:02 +01:00
committed by GitHub
parent 134132900a
commit 48de83817e
40 changed files with 2099 additions and 1114 deletions
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52
src/dynamics/solver/interaction_groups.rs
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@@ -72,7 +72,7 @@ impl ParallelInteractionGroups {
interactions: &[Interaction],
interaction_indices: &[usize],
) {
let num_island_bodies = islands.active_island(island_id).len();
let num_island_bodies = islands.island(island_id).len();
self.bodies_color.clear();
self.interaction_indices.clear();
self.groups.clear();
@@ -117,26 +117,26 @@ impl ParallelInteractionGroups {
(false, false) => {
let rb1 = &bodies[body_pair.0.unwrap()];
let rb2 = &bodies[body_pair.1.unwrap()];
let color_mask = bcolors[rb1.ids.active_set_offset as usize]
| bcolors[rb2.ids.active_set_offset as usize];
let color_mask =
bcolors[rb1.ids.active_set_id] | bcolors[rb2.ids.active_set_id];
*color = (!color_mask).trailing_zeros() as usize;
color_len[*color] += 1;
bcolors[rb1.ids.active_set_offset as usize] |= 1 << *color;
bcolors[rb2.ids.active_set_offset as usize] |= 1 << *color;
bcolors[rb1.ids.active_set_id] |= 1 << *color;
bcolors[rb2.ids.active_set_id] |= 1 << *color;
}
(true, false) => {
let rb2 = &bodies[body_pair.1.unwrap()];
let color_mask = bcolors[rb2.ids.active_set_offset as usize];
let color_mask = bcolors[rb2.ids.active_set_id];
*color = 127 - (!color_mask).leading_zeros() as usize;
color_len[*color] += 1;
bcolors[rb2.ids.active_set_offset as usize] |= 1 << *color;
bcolors[rb2.ids.active_set_id] |= 1 << *color;
}
(false, true) => {
let rb1 = &bodies[body_pair.0.unwrap()];
let color_mask = bcolors[rb1.ids.active_set_offset as usize];
let color_mask = bcolors[rb1.ids.active_set_id];
*color = 127 - (!color_mask).leading_zeros() as usize;
color_len[*color] += 1;
bcolors[rb1.ids.active_set_offset as usize] |= 1 << *color;
bcolors[rb1.ids.active_set_id] |= 1 << *color;
}
(true, true) => unreachable!(),
}
@@ -244,7 +244,7 @@ impl InteractionGroups {
// is full, we don't clear the corresponding body mask bit. This may result
// in less grouped constraints.
self.body_masks
.resize(islands.active_island(island_id).len(), 0u128);
.resize(islands.island(island_id).len(), 0u128);
// NOTE: each bit of the occupied mask indicates what bucket already
// contains at least one constraint.
@@ -270,18 +270,10 @@ impl InteractionGroups {
}
let ijoint = interaction.data.locked_axes.bits() as usize;
let i1 = rb1.ids.active_set_offset;
let i2 = rb2.ids.active_set_offset;
let conflicts = self
.body_masks
.get(i1 as usize)
.copied()
.unwrap_or_default()
| self
.body_masks
.get(i2 as usize)
.copied()
.unwrap_or_default()
let i1 = rb1.ids.active_set_id;
let i2 = rb2.ids.active_set_id;
let conflicts = self.body_masks.get(i1).copied().unwrap_or_default()
| self.body_masks.get(i2).copied().unwrap_or_default()
| joint_type_conflicts[ijoint];
let conflictfree_targets = !(conflicts & occupied_mask); // The & is because we consider empty buckets as free of conflicts.
let conflictfree_occupied_targets = conflictfree_targets & occupied_mask;
@@ -396,7 +388,7 @@ impl InteractionGroups {
// in less grouped contacts.
// NOTE: body_masks and buckets are already cleared/zeroed at the end of each sort loop.
self.body_masks
.resize(islands.active_island(island_id).len(), 0u128);
.resize(islands.island(island_id).len(), 0u128);
// NOTE: each bit of the occupied mask indicates what bucket already
// contains at least one constraint.
@@ -420,17 +412,15 @@ impl InteractionGroups {
continue;
}
let (status1, active_set_offset1) = if let Some(rb1) = interaction.data.rigid_body1
{
let (status1, active_set_id1) = if let Some(rb1) = interaction.data.rigid_body1 {
let rb1 = &bodies[rb1];
(rb1.body_type, rb1.ids.active_set_offset)
(rb1.body_type, rb1.ids.active_set_id as u32)
} else {
(RigidBodyType::Fixed, u32::MAX)
};
let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
{
let (status2, active_set_id2) = if let Some(rb2) = interaction.data.rigid_body2 {
let rb2 = &bodies[rb2];
(rb2.body_type, rb2.ids.active_set_offset)
(rb2.body_type, rb2.ids.active_set_id as u32)
} else {
(RigidBodyType::Fixed, u32::MAX)
};
@@ -443,8 +433,8 @@ impl InteractionGroups {
continue;
}
let i1 = active_set_offset1;
let i2 = active_set_offset2;
let i1 = active_set_id1;
let i2 = active_set_id2;
let mask1 = if !is_fixed1 {
self.body_masks[i1 as usize]
} else {