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

Start introducing SAP layers.

Browse Source
This commit is contained in:
Crozet Sébastien
2021-03-08 15:12:45 +01:00
parent 0b80bc827c
commit 7983c25606
6 changed files with 208 additions and 108 deletions
Download Patch File Download Diff File Expand all files Collapse all files

127
src/geometry/broad_phase_multi_sap/broad_phase.rs
View File

@@ -1,11 +1,11 @@
use super::{
BroadPhasePairEvent, BroadPhaseProxies, BroadPhaseProxy, ColliderPair, SAPRegion,
BroadPhasePairEvent, BroadPhaseProxies, BroadPhaseProxy, ColliderPair, SAPLayer, SAPRegion,
NEXT_FREE_SENTINEL, SENTINEL_VALUE,
};
use crate::data::pubsub::Subscription;
use crate::dynamics::RigidBodySet;
use crate::geometry::{ColliderSet, RemovedCollider};
use crate::math::{Point, Real};
use crate::math::Real;
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::HashMap;
@@ -14,13 +14,11 @@ use parry::utils::hashmap::HashMap;
#[derive(Clone)]
pub struct BroadPhase {
proxies: BroadPhaseProxies,
regions: HashMap<Point<i32>, SAPRegion>,
layers: Vec<SAPLayer>,
removed_colliders: Option<Subscription<RemovedCollider>>,
deleted_any: bool,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
region_pool: Vec<SAPRegion>, // To avoid repeated allocations.
#[cfg_attr(feature = "serde-serialize", serde(skip))]
regions_to_remove: Vec<Point<i32>>, // Workspace
// 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.
@@ -48,9 +46,8 @@ impl BroadPhase {
BroadPhase {
removed_colliders: None,
proxies: BroadPhaseProxies::new(),
regions: HashMap::default(),
layers: vec![SAPLayer::new(0)],
region_pool: Vec::new(),
regions_to_remove: Vec::new(),
reporting: HashMap::default(),
deleted_any: false,
}
@@ -80,31 +77,8 @@ impl BroadPhase {
let proxy = &mut self.proxies[proxy_index];
// Discretize the AABB to find the regions that need to be invalidated.
let start = super::point_key(proxy.aabb.mins);
let end = super::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(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(proxy_index);
self.deleted_any = true;
}
}
}
}
let layer = &mut self.layers[proxy.layer as usize];
layer.remove_collider(proxy, proxy_index);
// Push the proxy to infinity, but not beyond the sentinels.
proxy.aabb.mins.coords.fill(SENTINEL_VALUE / 2.0);
@@ -134,93 +108,41 @@ impl BroadPhase {
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) {
let layer = if let Some(proxy) = self.proxies.get_mut(collider.proxy_index) {
proxy.aabb = aabb;
proxy.layer
} else {
let layer = 0; // FIXME: compute the actual layer.
let proxy = BroadPhaseProxy {
handle: *handle,
aabb,
next_free: NEXT_FREE_SENTINEL,
layer,
};
collider.proxy_index = self.proxies.insert(proxy);
}
layer
};
// Discretize the aabb.
let proxy_id = collider.proxy_index;
// let start = Point::origin();
// let end = Point::origin();
let start = super::point_key(aabb.mins);
let end = super::point_key(aabb.maxs);
let regions = &mut self.regions;
let pool = &mut self.region_pool;
#[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 = regions
.entry(region_key)
.or_insert_with(|| SAPRegion::recycle_or_new(region_bounds, pool));
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 = super::region_aabb(region_key);
let region = regions
.entry(region_key)
.or_insert_with(|| SAPRegion::recycle_or_new(region_bounds, pool));
let _ = region.preupdate_proxy(proxy_id);
}
}
}
let layer = &mut self.layers[layer as usize];
layer.preupdate_collider(collider, &aabb, &mut self.region_pool);
}
}
}
fn update_regions(&mut self) {
for (point, region) in &mut self.regions {
region.update(&self.proxies, &mut self.reporting);
if region.proxy_count == 0 {
self.regions_to_remove.push(*point);
}
}
// Remove all the empty regions and store them in the region pool
let regions = &mut self.regions;
self.region_pool.extend(
self.regions_to_remove
.drain(..)
.map(|p| regions.remove(&p).unwrap()),
);
}
pub(crate) fn complete_removals(&mut self) {
if self.deleted_any {
self.update_regions();
for layer in &mut self.layers {
layer.complete_removals(&self.proxies, &mut self.reporting, &mut self.region_pool);
// 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();
self.update_regions();
// Convert reports to broad phase events.
// let t = instant::now();
// let mut num_add_events = 0;
// let mut num_delete_events = 0;
for layer in &mut self.layers {
layer.update_regions(&self.proxies, &mut self.reporting, &mut self.region_pool);
}
for ((proxy1, proxy2), colliding) in &self.reporting {
let proxy1 = &self.proxies[*proxy1 as usize];
@@ -233,23 +155,12 @@ impl BroadPhase {
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()
// );
}
}