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Fix broad-phase bug that could result in missed collision pairs when an object leaves then re-enter a region

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This commit is contained in:
Sébastien Crozet
2021-09-12 09:55:17 +02:00
committed by Sébastien Crozet
parent b364a2b052
commit 5e133aac92
2 changed files with 60 additions and 11 deletions
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25
src/geometry/broad_phase_multi_sap/sap_layer.rs
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@@ -2,6 +2,7 @@ use super::{SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
use crate::geometry::{SAPProxyIndex, AABB};
use crate::math::{Point, Real};
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::{Entry, HashMap};
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -214,12 +215,13 @@ impl SAPLayer {
pub fn preupdate_collider(
&mut self,
proxy_id: u32,
aabb: &AABB,
aabb_to_discretize: &AABB,
actual_aabb: Option<&AABB>,
proxies: &mut SAPProxies,
pool: &mut SAPRegionPool,
) {
let start = super::point_key(aabb.mins, self.region_width);
let end = super::point_key(aabb.maxs, self.region_width);
let start = super::point_key(aabb_to_discretize.mins, self.region_width);
let end = super::point_key(aabb_to_discretize.maxs, self.region_width);
// Discretize the aabb.
#[cfg(feature = "dim2")]
@@ -235,7 +237,22 @@ impl SAPLayer {
#[cfg(feature = "dim3")]
let region_key = Point::new(i, j, _k);
let region_id = self.ensure_region_exists(region_key, proxies, pool);
let region = proxies[region_id].data.as_region_mut();
let region_proxy = &mut proxies[region_id];
let region = region_proxy.data.as_region_mut();
if let Some(actual_aabb) = actual_aabb {
// NOTE: if the actual AABB doesn't intersect the
// region’s AABB, then we need to delete the
// proxy from that region because it means that
// during the last update the proxy intersected
// that region, but it doesn't intersect it any
// more during the current update.
if !region_proxy.aabb.intersects(actual_aabb) {
region.predelete_proxy(proxy_id);
continue;
}
}
region.preupdate_proxy(proxy_id, true);
}
}