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Fix bug wher ethe broad-phase could miss some contacts pairs.

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This commit is contained in:
Crozet Sébastien
2021-03-26 18:16:43 +01:00
parent 97157c9423
commit 710dd8d71e
4 changed files with 139 additions and 30 deletions
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74
src/geometry/broad_phase_multi_sap/sap_layer.rs
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@@ -38,23 +38,39 @@ impl SAPLayer {
}
}
/// Deletes from all the regions of this layer, all the endpoints corresponding
/// to subregions. Clears the arrays of subregions indices from all the regions of
/// this layer.
pub fn unregister_all_subregions(&mut self, proxies: &mut SAPProxies) {
for region_id in self.regions.values() {
if let Some(mut region) = proxies[*region_id].data.take_region() {
region.delete_all_region_endpoints(proxies);
// Extract the region to make the borrow-checker happy.
let mut region = proxies[*region_id]
.data
.take_region()
.expect("Should be a region proxy.");
for subregion in region.subregions.drain(..) {
proxies[subregion]
.data
.as_region_mut()
.id_in_parent_subregion = crate::INVALID_U32;
}
// Delete the endpoints.
region.delete_all_region_endpoints(proxies);
proxies[*region_id].data.set_region(region);
// Clear the subregions vec and reset the subregions parent ids.
for subregion in region.subregions.drain(..) {
proxies[subregion]
.data
.as_region_mut()
.id_in_parent_subregion = crate::INVALID_U32;
}
// Re set the region to make the borrow-checker happy.
proxies[*region_id].data.set_region(region);
}
}
/// Register into `larger_layer` all the region proxies of the recently-created regions
/// contained by `self`.
///
/// This method must be called in a bottom-up loop, propagating new regions from the
/// smallest layer, up to the largest layer. That loop is done by the Phase 3 of the
/// BroadPhase::update.
pub fn propagate_created_regions(
&mut self,
larger_layer: &mut Self,
@@ -66,6 +82,7 @@ impl SAPLayer {
}
}
/// Register into `larger_layer` all the region proxies of the region contained in `self`.
pub fn propagate_existing_regions(
&mut self,
larger_layer: &mut Self,
@@ -77,7 +94,12 @@ impl SAPLayer {
}
}
// Preupdates the proxy of a subregion.
/// Registers a subregion of this layer.
///
/// The subregion proxy will be added to the region of `self` that contains
/// that subregion center. Because the hierarchical grid cells have aligned boundaries
/// at each depth, we have the guarantee that a given subregion will only be part of
/// one region on its parent "larger" layer.
fn register_subregion(
&mut self,
proxy_id: SAPProxyIndex,
@@ -85,7 +107,9 @@ impl SAPLayer {
pool: &mut SAPRegionPool,
) {
if let Some(proxy) = proxies.get(proxy_id) {
if proxy.data.as_region().id_in_parent_subregion == crate::INVALID_U32 {
let curr_id_in_parent_subregion = proxy.data.as_region().id_in_parent_subregion;
if curr_id_in_parent_subregion == crate::INVALID_U32 {
let region_key = super::point_key(proxy.aabb.center(), self.region_width);
let region_id = self.ensure_region_exists(region_key, proxies, pool);
let region = proxies[region_id].data.as_region_mut();
@@ -95,6 +119,20 @@ impl SAPLayer {
.data
.as_region_mut()
.id_in_parent_subregion = id_in_parent_subregion as u32;
} else {
// NOTE: all the following are just assertions to make sure the
// region ids are correctly wired. If this piece of code causes
// any performance problem, it can be deleted completely without
// hesitation.
if curr_id_in_parent_subregion != crate::INVALID_U32 {
let region_key = super::point_key(proxy.aabb.center(), self.region_width);
let region_id = self.regions.get(&region_key).unwrap();
let region = proxies[*region_id].data.as_region_mut();
assert_eq!(
region.subregions[curr_id_in_parent_subregion as usize],
proxy_id
);
}
}
}
}
@@ -138,6 +176,15 @@ impl SAPLayer {
}
}
/// Ensures a given region exists in this layer.
///
/// If the region with the given region key does not exist yet, it is created.
/// When a region is created, it creates a new proxy for that region, and its
/// proxy ID is added to `self.created_region` so it can be propagated during
/// the Phase 3 of `BroadPhase::update`.
///
/// This returns the proxy ID of the already existing region if it existed, or
/// of the new region if it did not exist and has been created by this method.
pub fn ensure_region_exists(
&mut self,
region_key: Point<i32>,
@@ -145,14 +192,19 @@ impl SAPLayer {
pool: &mut SAPRegionPool,
) -> SAPProxyIndex {
match self.regions.entry(region_key) {
// Yay, the region already exists!
Entry::Occupied(occupied) => *occupied.get(),
// The region does not exist, create it.
Entry::Vacant(vacant) => {
let region_bounds = super::region_aabb(region_key, self.region_width);
let region = SAPRegion::recycle_or_new(region_bounds, pool);
// Create a new proxy for that region.
let region_proxy =
SAPProxy::subregion(region, region_bounds, self.layer_id, self.depth);
let region_proxy_id = proxies.insert(region_proxy);
// Push this region's proxy ID to the set of created regions.
self.created_regions.push(region_proxy_id as u32);
// Insert the new region to this layer's region hashmap.
let _ = vacant.insert(region_proxy_id);
region_proxy_id
}