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

feat: implement collision skin

Browse Source
This commit is contained in:
Sébastien Crozet
2024-04-27 11:36:35 +02:00
committed by Sébastien Crozet
parent c079452a47
commit 664645159d
5 changed files with 66 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
View File

@@ -2,7 +2,7 @@ use super::{
BroadPhasePairEvent, ColliderPair, SAPLayer, SAPProxies, SAPProxy, SAPProxyData, SAPRegionPool,
};
use crate::geometry::{
BroadPhaseProxyIndex, ColliderBroadPhaseData, ColliderChanges, ColliderHandle,
BroadPhaseProxyIndex, Collider, ColliderBroadPhaseData, ColliderChanges, ColliderHandle,
ColliderPosition, ColliderSet, ColliderShape,
};
use crate::math::{Isometry, Real};
@@ -353,19 +353,16 @@ impl BroadPhaseMultiSap {
prediction_distance: Real,
handle: ColliderHandle,
proxy_index: &mut u32,
collider: (&ColliderPosition, &ColliderShape, &ColliderChanges),
collider: &Collider,
next_position: Option<&Isometry<Real>>,
) -> bool {
let (co_pos, co_shape, co_changes) = collider;
let mut aabb = co_shape
.compute_aabb(co_pos)
.loosened(prediction_distance / 2.0);
let mut aabb = collider.compute_collision_aabb(prediction_distance / 2.0);
if let Some(next_position) = next_position {
let next_aabb = co_shape
let next_aabb = collider
.shape
.compute_aabb(next_position)
.loosened(prediction_distance / 2.0);
.loosened(collider.collision_skin() + prediction_distance / 2.0);
aabb.merge(&next_aabb);
}
@@ -386,7 +383,7 @@ impl BroadPhaseMultiSap {
prev_aabb = proxy.aabb;
proxy.aabb = aabb;
if co_changes.contains(ColliderChanges::SHAPE) {
if collider.changes.contains(ColliderChanges::SHAPE) {
// If the shape was changed, then we need to see if this proxy should be
// migrated to a larger layer. Indeed, if the shape was replaced by
// a much larger shape, we need to promote the proxy to a bigger layer
@@ -609,7 +606,7 @@ impl BroadPhase for BroadPhaseMultiSap {
prediction_distance,
*handle,
&mut new_proxy_id,
(&co.pos, &co.shape, &co.changes),
&co,
next_pos.as_ref(),
) {
need_region_propagation = true;

6
src/geometry/broad_phase_qbvh.rs
View File

@@ -59,7 +59,7 @@ impl BroadPhaseQbvh {
colliders.iter().map(|(handle, collider)| {
(
handle,
collider.compute_aabb().loosened(prediction_distance / 2.0),
collider.compute_collision_aabb(prediction_distance / 2.0),
)
}),
margin,
@@ -76,9 +76,7 @@ impl BroadPhaseQbvh {
}
let _ = self.qbvh.refit(margin, &mut self.workspace, |handle| {
colliders[*handle]
.compute_aabb()
.loosened(prediction_distance / 2.0)
colliders[*handle].compute_collision_aabb(prediction_distance / 2.0)
});
self.qbvh
.traverse_modified_bvtt_with_stack(&self.qbvh, &mut visitor, &mut self.stack);

44
src/geometry/collider.rs
View File

@@ -9,7 +9,7 @@ use crate::parry::transformation::vhacd::VHACDParameters;
use crate::pipeline::{ActiveEvents, ActiveHooks};
use crate::prelude::ColliderEnabled;
use na::Unit;
use parry::bounding_volume::Aabb;
use parry::bounding_volume::{Aabb, BoundingVolume};
use parry::shape::{Shape, TriMeshFlags};
#[cfg(feature = "dim3")]
@@ -30,6 +30,7 @@ pub struct Collider {
pub(crate) material: ColliderMaterial,
pub(crate) flags: ColliderFlags,
pub(crate) bf_data: ColliderBroadPhaseData,
collision_skin: Real,
contact_force_event_threshold: Real,
/// User-defined data associated to this collider.
pub user_data: u128,
@@ -109,6 +110,7 @@ impl Collider {
bf_data: _bf_data, // Internal ids must not be overwritten.
contact_force_event_threshold,
user_data,
collision_skin,
} = other;
if self.parent.is_none() {
@@ -123,6 +125,7 @@ impl Collider {
self.user_data = *user_data;
self.flags = *flags;
self.changes = ColliderChanges::all();
self.collision_skin = *collision_skin;
}
/// The physics hooks enabled for this collider.
@@ -155,6 +158,16 @@ impl Collider {
self.flags.active_collision_types = active_collision_types;
}
/// The collision skin of this collider.
pub fn collision_skin(&self) -> Real {
self.collision_skin
}
/// Sets the collision skin of this collider.
pub fn set_collision_skin(&mut self, skin_thickness: Real) {
self.collision_skin = skin_thickness;
}
/// The friction coefficient of this collider.
pub fn friction(&self) -> Real {
self.material.friction
@@ -437,10 +450,21 @@ impl Collider {
}
/// Compute the axis-aligned bounding box of this collider.
///
/// This AABB doesn’t take into account the collider’s collision skin.
/// [`Collider::collision_skin`].
pub fn compute_aabb(&self) -> Aabb {
self.shape.compute_aabb(&self.pos)
}
/// Compute the axis-aligned bounding box of this collider, taking into account the
/// [`Collider::collision_skin`] and prediction distance.
pub fn compute_collision_aabb(&self, prediction: Real) -> Aabb {
self.shape
.compute_aabb(&self.pos)
.loosened(self.collision_skin + prediction)
}
/// Compute the axis-aligned bounding box of this collider moving from its current position
/// to the given `next_position`
pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> Aabb {
@@ -495,6 +519,8 @@ pub struct ColliderBuilder {
pub enabled: bool,
/// The total force magnitude beyond which a contact force event can be emitted.
pub contact_force_event_threshold: Real,
/// An extract thickness around the collider shape to keep them further apart when in collision.
pub collision_skin: Real,
}
impl ColliderBuilder {
@@ -517,6 +543,7 @@ impl ColliderBuilder {
active_events: ActiveEvents::empty(),
enabled: true,
contact_force_event_threshold: 0.0,
collision_skin: 0.0,
}
}
@@ -946,6 +973,20 @@ impl ColliderBuilder {
self
}
/// Sets the collision skin of the collider.
///
/// The collision skin acts as if the collider was enlarged with a skin of width `skin_thickness`
/// around it, keeping objects further apart when colliding.
///
/// A non-zero collision skin can increase performance, and in some cases, stability. However
/// it creates a small gap between colliding object (equal to the sum of their skin). If the
/// skin is sufficiently small, this might not be visually significant or can be hidden by the
/// rendering assets.
pub fn collision_skin(mut self, skin_thickness: Real) -> Self {
self.collision_skin = skin_thickness;
self
}
/// Enable or disable the collider after its creation.
pub fn enabled(mut self, enabled: bool) -> Self {
self.enabled = enabled;
@@ -993,6 +1034,7 @@ impl ColliderBuilder {
flags,
coll_type,
contact_force_event_threshold: self.contact_force_event_threshold,
collision_skin: self.collision_skin,
user_data: self.user_data,
}
}

3
src/geometry/contact_pair.rs
View File

@@ -116,6 +116,9 @@ pub struct ContactPair {
/// The set of contact manifolds between the two colliders.
///
/// All contact manifold contain themselves contact points between the colliders.
/// Note that contact points in the contact manifold do not take into account the
/// [`Collider::collision_skin`] which only affects the constraint solver and the
/// [`SolverContact`].
pub manifolds: Vec<ContactManifold>,
/// Is there any active contact in this contact pair?
pub has_any_active_contact: bool,

17
src/geometry/narrow_phase.rs
View File

@@ -898,11 +898,12 @@ impl NarrowPhase {
let pos12 = co1.pos.inv_mul(&co2.pos);
let collision_skin_sum = co1.collision_skin() + co2.collision_skin();
let soft_ccd_prediction1 = rb1.map(|rb| rb.soft_ccd_prediction()).unwrap_or(0.0);
let soft_ccd_prediction2 = rb2.map(|rb| rb.soft_ccd_prediction()).unwrap_or(0.0);
let effective_prediction_distance = if soft_ccd_prediction1 > 0.0 || soft_ccd_prediction2 > 0.0 {
let aabb1 = co1.compute_aabb();
let aabb2 = co2.compute_aabb();
let aabb1 = co1.compute_collision_aabb(0.0);
let aabb2 = co2.compute_collision_aabb(0.0);
let inv_dt = crate::utils::inv(dt);
let linvel1 = rb1.map(|rb| rb.linvel()
@@ -917,9 +918,9 @@ impl NarrowPhase {
prediction_distance.max(
dt * (linvel1 - linvel2).norm())
dt * (linvel1 - linvel2).norm()) + collision_skin_sum
} else {
prediction_distance
prediction_distance + collision_skin_sum
};
let _ = query_dispatcher.contact_manifolds(
@@ -968,12 +969,14 @@ impl NarrowPhase {
break;
}
let keep_solver_contact = contact.dist < prediction_distance || {
let effective_contact_dist = contact.dist - co1.collision_skin() - co2.collision_skin();
let keep_solver_contact = effective_contact_dist < prediction_distance || {
let world_pt1 = world_pos1 * contact.local_p1;
let world_pt2 = world_pos2 * contact.local_p2;
let vel1 = rb1.map(|rb| rb.velocity_at_point(&world_pt1)).unwrap_or_default();
let vel2 = rb2.map(|rb| rb.velocity_at_point(&world_pt2)).unwrap_or_default();
contact.dist + (vel2 - vel1).dot(&manifold.data.normal) * dt < prediction_distance
effective_contact_dist + (vel2 - vel1).dot(&manifold.data.normal) * dt < prediction_distance
};
if keep_solver_contact {
@@ -985,7 +988,7 @@ impl NarrowPhase {
let solver_contact = SolverContact {
contact_id: contact_id as u8,
point: effective_point,
dist: contact.dist,
dist: effective_contact_dist,
friction,
restitution,
tangent_velocity: Vector::zeros(),