First public release of Rapier.

src/geometry/broad_phase_multi_sap.rs

@@ -0,0 +1,645 @@
+use crate::dynamics::RigidBodySet;
+use crate::geometry::{ColliderHandle, ColliderPair, ColliderSet};
+use crate::math::{Point, Vector, DIM};
+#[cfg(feature = "enhanced-determinism")]
+use crate::utils::FxHashMap32 as HashMap;
+use bit_vec::BitVec;
+use ncollide::bounding_volume::{BoundingVolume, AABB};
+#[cfg(not(feature = "enhanced-determinism"))]
+use rustc_hash::FxHashMap as HashMap;
+use std::cmp::Ordering;
+use std::ops::{Index, IndexMut};
+
+const NUM_SENTINELS: usize = 1;
+const NEXT_FREE_SENTINEL: u32 = u32::MAX;
+const SENTINEL_VALUE: f32 = f32::MAX;
+const CELL_WIDTH: f32 = 20.0;
+
+pub enum BroadPhasePairEvent {
+    AddPair(ColliderPair),
+    DeletePair(ColliderPair),
+}
+
+fn sort2(a: u32, b: u32) -> (u32, u32) {
+    assert_ne!(a, b);
+
+    if a < b {
+        (a, b)
+    } else {
+        (b, a)
+    }
+}
+
+fn point_key(point: Point<f32>) -> Point<i32> {
+    (point / CELL_WIDTH).coords.map(|e| e.floor() as i32).into()
+}
+
+fn region_aabb(index: Point<i32>) -> AABB<f32> {
+    let mins = index.coords.map(|i| i as f32 * CELL_WIDTH).into();
+    let maxs = mins + Vector::repeat(CELL_WIDTH);
+    AABB::new(mins, maxs)
+}
+
+#[derive(Copy, Clone, Debug, PartialEq)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+struct Endpoint {
+    value: f32,
+    packed_flag_proxy: u32,
+}
+
+const START_FLAG_MASK: u32 = 0b1 << 31;
+const PROXY_MASK: u32 = u32::MAX ^ START_FLAG_MASK;
+const START_SENTINEL_TAG: u32 = u32::MAX;
+const END_SENTINEL_TAG: u32 = u32::MAX ^ START_FLAG_MASK;
+
+impl Endpoint {
+    pub fn start_endpoint(value: f32, proxy: u32) -> Self {
+        Self {
+            value,
+            packed_flag_proxy: proxy | START_FLAG_MASK,
+        }
+    }
+
+    pub fn end_endpoint(value: f32, proxy: u32) -> Self {
+        Self {
+            value,
+            packed_flag_proxy: proxy & PROXY_MASK,
+        }
+    }
+
+    pub fn start_sentinel() -> Self {
+        Self {
+            value: -SENTINEL_VALUE,
+            packed_flag_proxy: START_SENTINEL_TAG,
+        }
+    }
+
+    pub fn end_sentinel() -> Self {
+        Self {
+            value: SENTINEL_VALUE,
+            packed_flag_proxy: END_SENTINEL_TAG,
+        }
+    }
+
+    pub fn is_sentinel(self) -> bool {
+        self.packed_flag_proxy & PROXY_MASK == PROXY_MASK
+    }
+
+    pub fn proxy(self) -> u32 {
+        self.packed_flag_proxy & PROXY_MASK
+    }
+
+    pub fn is_start(self) -> bool {
+        (self.packed_flag_proxy & START_FLAG_MASK) != 0
+    }
+
+    pub fn is_end(self) -> bool {
+        (self.packed_flag_proxy & START_FLAG_MASK) == 0
+    }
+}
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+struct SAPAxis {
+    min_bound: f32,
+    max_bound: f32,
+    endpoints: Vec<Endpoint>,
+    #[cfg_attr(feature = "serde-serialize", serde(skip))]
+    new_endpoints: Vec<(Endpoint, usize)>, // Workspace
+}
+
+impl SAPAxis {
+    fn new(min_bound: f32, max_bound: f32) -> Self {
+        assert!(min_bound <= max_bound);
+
+        Self {
+            min_bound,
+            max_bound,
+            endpoints: vec![Endpoint::start_sentinel(), Endpoint::end_sentinel()],
+            new_endpoints: Vec::new(),
+        }
+    }
+
+    fn batch_insert(
+        &mut self,
+        dim: usize,
+        new_proxies: &[usize],
+        proxies: &Proxies,
+        reporting: Option<&mut HashMap<(u32, u32), bool>>,
+    ) {
+        if new_proxies.is_empty() {
+            return;
+        }
+
+        self.new_endpoints.clear();
+
+        for proxy_id in new_proxies {
+            let proxy = &proxies[*proxy_id];
+            assert!(proxy.aabb.mins[dim] <= self.max_bound);
+            assert!(proxy.aabb.maxs[dim] >= self.min_bound);
+            let start_endpoint = Endpoint::start_endpoint(proxy.aabb.mins[dim], *proxy_id as u32);
+            let end_endpoint = Endpoint::end_endpoint(proxy.aabb.maxs[dim], *proxy_id as u32);
+
+            self.new_endpoints.push((start_endpoint, 0));
+            self.new_endpoints.push((end_endpoint, 0));
+        }
+
+        self.new_endpoints
+            .sort_by(|a, b| a.0.value.partial_cmp(&b.0.value).unwrap_or(Ordering::Equal));
+
+        let mut curr_existing_index = self.endpoints.len() - NUM_SENTINELS - 1;
+        let new_num_endpoints = self.endpoints.len() + self.new_endpoints.len();
+        self.endpoints
+            .resize(new_num_endpoints, Endpoint::end_sentinel());
+        let mut curr_shift_index = new_num_endpoints - NUM_SENTINELS - 1;
+
+        // Sort the endpoints.
+        // TODO: specialize for the case where this is the
+        // first time we insert endpoints to this axis?
+        for new_endpoint in self.new_endpoints.iter_mut().rev() {
+            loop {
+                let existing_endpoint = self.endpoints[curr_existing_index];
+                if existing_endpoint.value <= new_endpoint.0.value {
+                    break;
+                }
+
+                self.endpoints[curr_shift_index] = existing_endpoint;
+
+                curr_shift_index -= 1;
+                curr_existing_index -= 1;
+            }
+
+            self.endpoints[curr_shift_index] = new_endpoint.0;
+            new_endpoint.1 = curr_shift_index;
+            curr_shift_index -= 1;
+        }
+
+        // Report pairs using a single mbp pass on each new endpoint.
+        let endpoints_wo_last_sentinel = &self.endpoints[..self.endpoints.len() - 1];
+        if let Some(reporting) = reporting {
+            for (endpoint, endpoint_id) in self.new_endpoints.drain(..).filter(|e| e.0.is_start()) {
+                let proxy1 = &proxies[endpoint.proxy() as usize];
+                let min = endpoint.value;
+                let max = proxy1.aabb.maxs[dim];
+
+                for endpoint2 in &endpoints_wo_last_sentinel[endpoint_id + 1..] {
+                    if endpoint2.proxy() == endpoint.proxy() {
+                        continue;
+                    }
+
+                    let proxy2 = &proxies[endpoint2.proxy() as usize];
+
+                    // NOTE: some pairs with equal aabb.mins[dim] may end up being reported twice.
+                    if (endpoint2.is_start() && endpoint2.value < max)
+                        || (endpoint2.is_end() && proxy2.aabb.mins[dim] <= min)
+                    {
+                        // Report pair.
+                        if proxy1.aabb.intersects(&proxy2.aabb) {
+                            // Report pair.
+                            let pair = sort2(endpoint.proxy(), endpoint2.proxy());
+                            reporting.insert(pair, true);
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    fn delete_out_of_bounds_proxies(&self, existing_proxies: &mut BitVec) -> bool {
+        let mut deleted_any = false;
+        for endpoint in &self.endpoints {
+            if endpoint.value < self.min_bound {
+                if endpoint.is_end() {
+                    existing_proxies.set(endpoint.proxy() as usize, false);
+                    deleted_any = true;
+                }
+            } else {
+                break;
+            }
+        }
+
+        for endpoint in self.endpoints.iter().rev() {
+            if endpoint.value > self.max_bound {
+                if endpoint.is_start() {
+                    existing_proxies.set(endpoint.proxy() as usize, false);
+                    deleted_any = true;
+                }
+            } else {
+                break;
+            }
+        }
+
+        deleted_any
+    }
+
+    fn delete_out_of_bounds_endpoints(&mut self, existing_proxies: &BitVec) {
+        self.endpoints
+            .retain(|endpt| endpt.is_sentinel() || existing_proxies[endpt.proxy() as usize])
+    }
+
+    fn update_endpoints(
+        &mut self,
+        dim: usize,
+        proxies: &Proxies,
+        reporting: &mut HashMap<(u32, u32), bool>,
+    ) {
+        let last_endpoint = self.endpoints.len() - NUM_SENTINELS;
+        for i in NUM_SENTINELS..last_endpoint {
+            let mut endpoint_i = self.endpoints[i];
+            let aabb_i = proxies[endpoint_i.proxy() as usize].aabb;
+
+            if endpoint_i.is_start() {
+                endpoint_i.value = aabb_i.mins[dim];
+            } else {
+                endpoint_i.value = aabb_i.maxs[dim];
+            }
+
+            let mut j = i;
+
+            if endpoint_i.is_start() {
+                while endpoint_i.value < self.endpoints[j - 1].value {
+                    let endpoint_j = self.endpoints[j - 1];
+                    self.endpoints[j] = endpoint_j;
+
+                    if endpoint_j.is_end() {
+                        // Report start collision.
+                        if aabb_i.intersects(&proxies[endpoint_j.proxy() as usize].aabb) {
+                            let pair = sort2(endpoint_i.proxy(), endpoint_j.proxy());
+                            reporting.insert(pair, true);
+                        }
+                    }
+
+                    j -= 1;
+                }
+            } else {
+                while endpoint_i.value < self.endpoints[j - 1].value {
+                    let endpoint_j = self.endpoints[j - 1];
+                    self.endpoints[j] = endpoint_j;
+
+                    if endpoint_j.is_start() {
+                        // Report end collision.
+                        if !aabb_i.intersects(&proxies[endpoint_j.proxy() as usize].aabb) {
+                            let pair = sort2(endpoint_i.proxy(), endpoint_j.proxy());
+                            reporting.insert(pair, false);
+                        }
+                    }
+
+                    j -= 1;
+                }
+            }
+
+            self.endpoints[j] = endpoint_i;
+        }
+
+        // println!(
+        //     "Num start swaps: {}, end swaps: {}, dim: {}",
+        //     num_start_swaps, num_end_swaps, dim
+        // );
+    }
+}
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+struct SAPRegion {
+    axii: [SAPAxis; DIM],
+    existing_proxies: BitVec,
+    #[cfg_attr(feature = "serde-serialize", serde(skip))]
+    to_insert: Vec<usize>, // Workspace
+    need_update: bool,
+}
+
+impl SAPRegion {
+    pub fn new(bounds: AABB<f32>) -> Self {
+        let axii = [
+            SAPAxis::new(bounds.mins.x, bounds.maxs.x),
+            SAPAxis::new(bounds.mins.y, bounds.maxs.y),
+            #[cfg(feature = "dim3")]
+            SAPAxis::new(bounds.mins.z, bounds.maxs.z),
+        ];
+        SAPRegion {
+            axii,
+            existing_proxies: BitVec::new(),
+            to_insert: Vec::new(),
+            need_update: false,
+        }
+    }
+
+    pub fn predelete_proxy(&mut self, _proxy_id: usize) {
+        // We keep the proxy_id as argument for uniformity with the "preupdate"
+        // method. However we don't actually need it because the deletion will be
+        // handled transparently during the next update.
+        self.need_update = true;
+    }
+
+    pub fn preupdate_proxy(&mut self, proxy_id: usize) -> bool {
+        let mask_len = self.existing_proxies.len();
+        if proxy_id >= mask_len {
+            self.existing_proxies.grow(proxy_id + 1 - mask_len, false);
+        }
+
+        if !self.existing_proxies[proxy_id] {
+            self.to_insert.push(proxy_id);
+            self.existing_proxies.set(proxy_id, true);
+            false
+        } else {
+            self.need_update = true;
+            true
+        }
+    }
+
+    pub fn update(&mut self, proxies: &Proxies, reporting: &mut HashMap<(u32, u32), bool>) {
+        if self.need_update {
+            // Update endpoints.
+            let mut deleted_any = false;
+            for dim in 0..DIM {
+                self.axii[dim].update_endpoints(dim, proxies, reporting);
+                deleted_any = self.axii[dim]
+                    .delete_out_of_bounds_proxies(&mut self.existing_proxies)
+                    || deleted_any;
+            }
+
+            if deleted_any {
+                for dim in 0..DIM {
+                    self.axii[dim].delete_out_of_bounds_endpoints(&self.existing_proxies);
+                }
+            }
+
+            self.need_update = false;
+        }
+
+        if !self.to_insert.is_empty() {
+            // Insert new proxies.
+            for dim in 1..DIM {
+                self.axii[dim].batch_insert(dim, &self.to_insert, proxies, None);
+            }
+            self.axii[0].batch_insert(0, &self.to_insert, proxies, Some(reporting));
+            self.to_insert.clear();
+        }
+    }
+}
+
+/// A broad-phase based on multiple Sweep-and-Prune instances running of disjoint region of the 3D world.
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+pub struct BroadPhase {
+    proxies: Proxies,
+    regions: HashMap<Point<i32>, SAPRegion>,
+    deleted_any: bool,
+    // We could think serializing this workspace is useless.
+    // It turns out is is important to serialize at least its capacity
+    // and restore this capacity when deserializing the hashmap.
+    // This is because the order of future elements inserted into the
+    // hashmap depends on its capacity (because the internal bucket indices
+    // depend on this capacity). So not restoring this capacity may alter
+    // the order at which future elements are reported. This will in turn
+    // alter the order at which the pairs are registered in the narrow-phase,
+    // thus altering the order of the contact manifold. In the end, this
+    // alters the order of the resolution of contacts, resulting in
+    // diverging simulation after restoration of a snapshot.
+    #[cfg_attr(
+        feature = "serde-serialize",
+        serde(
+            serialize_with = "crate::utils::serialize_hashmap_capacity",
+            deserialize_with = "crate::utils::deserialize_hashmap_capacity"
+        )
+    )]
+    reporting: HashMap<(u32, u32), bool>, // Workspace
+}
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+pub(crate) struct BroadPhaseProxy {
+    handle: ColliderHandle,
+    aabb: AABB<f32>,
+    next_free: u32,
+}
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+struct Proxies {
+    elements: Vec<BroadPhaseProxy>,
+    first_free: u32,
+}
+
+impl Proxies {
+    pub fn new() -> Self {
+        Self {
+            elements: Vec::new(),
+            first_free: NEXT_FREE_SENTINEL,
+        }
+    }
+
+    pub fn insert(&mut self, proxy: BroadPhaseProxy) -> usize {
+        if self.first_free != NEXT_FREE_SENTINEL {
+            let proxy_id = self.first_free;
+            self.first_free = self.elements[self.first_free as usize].next_free;
+            self.elements[self.first_free as usize] = proxy;
+            proxy_id as usize
+        } else {
+            self.elements.push(proxy);
+            self.elements.len() - 1
+        }
+    }
+
+    pub fn remove(&mut self, proxy_id: usize) {
+        self.elements[proxy_id].next_free = self.first_free;
+        self.first_free = proxy_id as u32;
+    }
+
+    // // FIXME: take holes into account?
+    // pub fn get(&self, i: usize) -> Option<&BroadPhaseProxy> {
+    //     self.elements.get(i)
+    // }
+
+    // FIXME: take holes into account?
+    pub fn get_mut(&mut self, i: usize) -> Option<&mut BroadPhaseProxy> {
+        self.elements.get_mut(i)
+    }
+}
+
+impl Index<usize> for Proxies {
+    type Output = BroadPhaseProxy;
+    fn index(&self, i: usize) -> &BroadPhaseProxy {
+        self.elements.index(i)
+    }
+}
+
+impl IndexMut<usize> for Proxies {
+    fn index_mut(&mut self, i: usize) -> &mut BroadPhaseProxy {
+        self.elements.index_mut(i)
+    }
+}
+
+impl BroadPhase {
+    /// Create a new empty broad-phase.
+    pub fn new() -> Self {
+        BroadPhase {
+            proxies: Proxies::new(),
+            regions: HashMap::default(),
+            reporting: HashMap::default(),
+            deleted_any: false,
+        }
+    }
+
+    pub(crate) fn remove_colliders(&mut self, handles: &[ColliderHandle], colliders: &ColliderSet) {
+        for collider in handles.iter().filter_map(|h| colliders.get(*h)) {
+            if collider.proxy_index == crate::INVALID_USIZE {
+                // This collider has not been added to the broad-phase yet.
+                continue;
+            }
+
+            let proxy = &mut self.proxies[collider.proxy_index];
+
+            // Push the proxy to infinity, but not beyond the sentinels.
+            proxy.aabb.mins.coords.fill(SENTINEL_VALUE / 2.0);
+            proxy.aabb.maxs.coords.fill(SENTINEL_VALUE / 2.0);
+            // Discretize the AABB to find the regions that need to be invalidated.
+            let start = point_key(proxy.aabb.mins);
+            let end = point_key(proxy.aabb.maxs);
+
+            #[cfg(feature = "dim2")]
+            for i in start.x..=end.x {
+                for j in start.y..=end.y {
+                    if let Some(region) = self.regions.get_mut(&Point::new(i, j)) {
+                        region.predelete_proxy(collider.proxy_index);
+                        self.deleted_any = true;
+                    }
+                }
+            }
+
+            #[cfg(feature = "dim3")]
+            for i in start.x..=end.x {
+                for j in start.y..=end.y {
+                    for k in start.z..=end.z {
+                        if let Some(region) = self.regions.get_mut(&Point::new(i, j, k)) {
+                            region.predelete_proxy(collider.proxy_index);
+                            self.deleted_any = true;
+                        }
+                    }
+                }
+            }
+
+            self.proxies.remove(collider.proxy_index);
+        }
+    }
+
+    pub(crate) fn update_aabbs(
+        &mut self,
+        prediction_distance: f32,
+        bodies: &RigidBodySet,
+        colliders: &mut ColliderSet,
+    ) {
+        // First, if we have any pending removals we have
+        // to deal with them now because otherwise we will
+        // end up with an ABA problems when reusing proxy
+        // ids.
+        self.complete_removals();
+
+        for body_handle in bodies
+            .active_dynamic_set
+            .iter()
+            .chain(bodies.active_kinematic_set.iter())
+        {
+            for handle in &bodies[*body_handle].colliders {
+                let collider = &mut colliders[*handle];
+                let aabb = collider.compute_aabb().loosened(prediction_distance / 2.0);
+
+                if let Some(proxy) = self.proxies.get_mut(collider.proxy_index) {
+                    proxy.aabb = aabb;
+                } else {
+                    let proxy = BroadPhaseProxy {
+                        handle: *handle,
+                        aabb,
+                        next_free: NEXT_FREE_SENTINEL,
+                    };
+                    collider.proxy_index = self.proxies.insert(proxy);
+                }
+
+                // Discretize the aabb.
+                let proxy_id = collider.proxy_index;
+                // let start = Point::origin();
+                // let end = Point::origin();
+                let start = point_key(aabb.mins);
+                let end = point_key(aabb.maxs);
+
+                #[cfg(feature = "dim2")]
+                for i in start.x..=end.x {
+                    for j in start.y..=end.y {
+                        let region_key = Point::new(i, j);
+                        let region_bounds = region_aabb(region_key);
+                        let region = self
+                            .regions
+                            .entry(region_key)
+                            .or_insert_with(|| SAPRegion::new(region_bounds));
+                        let _ = region.preupdate_proxy(proxy_id);
+                    }
+                }
+
+                #[cfg(feature = "dim3")]
+                for i in start.x..=end.x {
+                    for j in start.y..=end.y {
+                        for k in start.z..=end.z {
+                            let region_key = Point::new(i, j, k);
+                            let region_bounds = region_aabb(region_key);
+                            let region = self
+                                .regions
+                                .entry(region_key)
+                                .or_insert_with(|| SAPRegion::new(region_bounds));
+                            let _ = region.preupdate_proxy(proxy_id);
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    pub(crate) fn complete_removals(&mut self) {
+        if self.deleted_any {
+            for (_, region) in &mut self.regions {
+                region.update(&self.proxies, &mut self.reporting);
+            }
+
+            // NOTE: we don't care about reporting pairs.
+            self.reporting.clear();
+            self.deleted_any = false;
+        }
+    }
+
+    pub(crate) fn find_pairs(&mut self, out_events: &mut Vec<BroadPhasePairEvent>) {
+        // println!("num regions: {}", self.regions.len());
+
+        self.reporting.clear();
+        for (_, region) in &mut self.regions {
+            region.update(&self.proxies, &mut self.reporting)
+        }
+
+        // Convert reports to broad phase events.
+        // let t = instant::now();
+        // let mut num_add_events = 0;
+        // let mut num_delete_events = 0;
+
+        for ((proxy1, proxy2), colliding) in &self.reporting {
+            let proxy1 = &self.proxies[*proxy1 as usize];
+            let proxy2 = &self.proxies[*proxy2 as usize];
+
+            let handle1 = proxy1.handle;
+            let handle2 = proxy2.handle;
+
+            if *colliding {
+                out_events.push(BroadPhasePairEvent::AddPair(ColliderPair::new(
+                    handle1, handle2,
+                )));
+            // num_add_events += 1;
+            } else {
+                out_events.push(BroadPhasePairEvent::DeletePair(ColliderPair::new(
+                    handle1, handle2,
+                )));
+                // num_delete_events += 1;
+            }
+        }
+
+        // println!(
+        //     "Event conversion time: {}, add: {}/{}, delete: {}/{}",
+        //     instant::now() - t,
+        //     num_add_events,
+        //     out_events.len(),
+        //     num_delete_events,
+        //     out_events.len()
+        // );
+    }
+}