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CCD improvements

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- Fix bug where the CCD thickness wasn’t initialized properly.
- Fix bug where the contact compliance would result in unwanted tunelling, despite CCD being enabled.
This commit is contained in:
Sébastien Crozet
2022-05-30 18:21:35 +02:00
parent c630635e57
commit 6ce26f3818
14 changed files with 130 additions and 37 deletions
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34
src/dynamics/ccd/ccd_solver.rs
View File

@@ -60,12 +60,20 @@ impl CCDSolver {
let min_toi = (rb.ccd.ccd_thickness
* 0.15
* crate::utils::inv(rb.ccd.max_point_velocity(&rb.vels)))
* crate::utils::inv(rb.ccd.max_point_velocity(&rb.integrated_vels)))
.min(dt);
// println!("Min toi: {}, Toi: {}", min_toi, toi);
let new_pos = rb
.vels
.integrate(toi.max(min_toi), &rb.pos.position, &local_com);
// println!(
// "Min toi: {}, Toi: {}, thick: {}, max_vel: {}",
// min_toi,
// toi,
// rb.ccd.ccd_thickness,
// rb.ccd.max_point_velocity(&rb.integrated_vels)
// );
let new_pos = rb.integrated_vels.integrate(
toi.max(min_toi),
&rb.pos.position,
&local_com,
);
rb.pos.next_position = new_pos;
}
}
@@ -95,7 +103,7 @@ impl CCDSolver {
} else {
None
};
let moving_fast = rb.ccd.is_moving_fast(dt, &rb.vels, forces);
let moving_fast = rb.ccd.is_moving_fast(dt, &rb.integrated_vels, forces);
rb.ccd.ccd_active = moving_fast;
ccd_active = ccd_active || moving_fast;
}
@@ -131,7 +139,7 @@ impl CCDSolver {
let predicted_body_pos1 = rb1.pos.integrate_forces_and_velocities(
dt,
&rb1.forces,
&rb1.vels,
&rb1.integrated_vels,
&rb1.mprops,
);
@@ -256,7 +264,7 @@ impl CCDSolver {
let predicted_body_pos1 = rb1.pos.integrate_forces_and_velocities(
dt,
&rb1.forces,
&rb1.vels,
&rb1.integrated_vels,
&rb1.mprops,
);
@@ -491,7 +499,10 @@ impl CCDSolver {
let local_com1 = &rb1.mprops.local_mprops.local_com;
let frozen1 = frozen.get(&b1);
let pos1 = frozen1
.map(|t| rb1.vels.integrate(*t, &rb1.pos.position, local_com1))
.map(|t| {
rb1.integrated_vels
.integrate(*t, &rb1.pos.position, local_com1)
})
.unwrap_or(rb1.pos.next_position);
pos1 * co_parent1.pos_wrt_parent
} else {
@@ -504,7 +515,10 @@ impl CCDSolver {
let local_com2 = &rb2.mprops.local_mprops.local_com;
let frozen2 = frozen.get(&b2);
let pos2 = frozen2
.map(|t| rb2.vels.integrate(*t, &rb2.pos.position, local_com2))
.map(|t| {
rb2.integrated_vels
.integrate(*t, &rb2.pos.position, local_com2)
})
.unwrap_or(rb2.pos.next_position);
pos2 * co_parent2.pos_wrt_parent
} else {

34
src/dynamics/ccd/toi_entry.rs
View File

@@ -56,14 +56,14 @@ impl TOIEntry {
return None;
}
let linvel1 =
frozen1.is_none() as u32 as Real * rb1.map(|b| b.vels.linvel).unwrap_or(na::zero());
let linvel2 =
frozen2.is_none() as u32 as Real * rb2.map(|b| b.vels.linvel).unwrap_or(na::zero());
let angvel1 =
frozen1.is_none() as u32 as Real * rb1.map(|b| b.vels.angvel).unwrap_or(na::zero());
let angvel2 =
frozen2.is_none() as u32 as Real * rb2.map(|b| b.vels.angvel).unwrap_or(na::zero());
let linvel1 = frozen1.is_none() as u32 as Real
* rb1.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero());
let linvel2 = frozen2.is_none() as u32 as Real
* rb2.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero());
let angvel1 = frozen1.is_none() as u32 as Real
* rb1.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero());
let angvel2 = frozen2.is_none() as u32 as Real
* rb2.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero());
#[cfg(feature = "dim2")]
let vel12 = (linvel2 - linvel1).norm()
@@ -114,6 +114,20 @@ impl TOIEntry {
// because the colliders may be in a separating trajectory.
let stop_at_penetration = is_pseudo_intersection_test;
// let pos12 = motion_c1
// .position_at_time(start_time)
// .inv_mul(&motion_c2.position_at_time(start_time));
// let vel12 = linvel2 - linvel1;
// let res_toi = query_dispatcher
// .time_of_impact(
// &pos12,
// &vel12,
// co1.shape.as_ref(),
// co2.shape.as_ref(),
// end_time - start_time,
// )
// .ok();
let res_toi = query_dispatcher
.nonlinear_time_of_impact(
&motion_c1,
@@ -144,8 +158,8 @@ impl TOIEntry {
NonlinearRigidMotion::new(
rb.pos.position,
rb.mprops.local_mprops.local_com,
rb.vels.linvel,
rb.vels.angvel,
rb.integrated_vels.linvel,
rb.integrated_vels.angvel,
)
} else {
NonlinearRigidMotion::constant_position(rb.pos.next_position)