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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
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@@ -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 {