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Allow collider modification after its insersion to the ColliderSet.

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This commit is contained in:
Crozet Sébastien
2021-03-29 14:54:54 +02:00
parent dec3e4197f
commit 8173e7ada2
16 changed files with 744 additions and 247 deletions
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84
src/geometry/broad_phase_multi_sap/broad_phase.rs
View File

@@ -2,8 +2,8 @@ use super::{
BroadPhasePairEvent, ColliderPair, SAPLayer, SAPProxies, SAPProxy, SAPProxyData, SAPRegionPool,
};
use crate::data::pubsub::Subscription;
use crate::dynamics::RigidBodySet;
use crate::geometry::broad_phase_multi_sap::SAPProxyIndex;
use crate::geometry::collider::ColliderChanges;
use crate::geometry::{ColliderSet, RemovedCollider};
use crate::math::Real;
use crate::utils::IndexMut2;
@@ -340,7 +340,6 @@ impl BroadPhase {
pub fn update(
&mut self,
prediction_distance: Real,
bodies: &RigidBodySet,
colliders: &mut ColliderSet,
events: &mut Vec<BroadPhasePairEvent>,
) {
@@ -350,39 +349,54 @@ impl BroadPhase {
let mut need_region_propagation = false;
// Phase 2: pre-delete the collisions that have been deleted.
for body_handle in bodies
.modified_inactive_set
.iter()
.chain(bodies.active_dynamic_set.iter())
.chain(bodies.active_kinematic_set.iter())
{
for handle in &bodies[*body_handle].colliders {
let collider = &mut colliders[*handle];
let mut aabb = collider.compute_aabb().loosened(prediction_distance / 2.0);
aabb.mins = super::clamp_point(aabb.mins);
aabb.maxs = super::clamp_point(aabb.maxs);
let layer_id = if let Some(proxy) = self.proxies.get_mut(collider.proxy_index) {
proxy.aabb = aabb;
proxy.layer_id
} else {
let layer_depth = super::layer_containing_aabb(&aabb);
let layer_id = self.ensure_layer_exists(layer_depth);
// Create the proxy.
let proxy = SAPProxy::collider(*handle, aabb, layer_id, layer_depth);
collider.proxy_index = self.proxies.insert(proxy);
layer_id
};
let layer = &mut self.layers[layer_id as usize];
// Preupdate the collider in the layer.
layer.preupdate_collider(collider, &aabb, &mut self.proxies, &mut self.region_pool);
need_region_propagation =
need_region_propagation || !layer.created_regions.is_empty();
colliders.foreach_modified_colliders_mut_internal(|handle, collider| {
if !collider.changes.needs_broad_phase_update() {
return;
}
}
let mut aabb = collider.compute_aabb().loosened(prediction_distance / 2.0);
aabb.mins = super::clamp_point(aabb.mins);
aabb.maxs = super::clamp_point(aabb.maxs);
let layer_id = if let Some(proxy) = self.proxies.get_mut(collider.proxy_index) {
let mut layer_id = proxy.layer_id;
proxy.aabb = aabb;
if collider.changes.contains(ColliderChanges::SHAPE) {
// If the shape was changed, then we need to see if this proxy should be
// migrated to a larger layer. Indeed, if the shape was replaced by
// a much larger shape, we need to promote the proxy to a bigger layer
// to avoid the O(n²) discretization problem.
let new_layer_depth = super::layer_containing_aabb(&aabb);
if new_layer_depth > proxy.layer_depth {
self.layers[proxy.layer_id as usize].proper_proxy_moved_to_bigger_layer(
&mut self.proxies,
collider.proxy_index,
);
// We need to promote the proxy to the bigger layer.
layer_id = self.ensure_layer_exists(new_layer_depth);
self.proxies[collider.proxy_index].layer_id = layer_id;
}
}
layer_id
} else {
let layer_depth = super::layer_containing_aabb(&aabb);
let layer_id = self.ensure_layer_exists(layer_depth);
// Create the proxy.
let proxy = SAPProxy::collider(handle, aabb, layer_id, layer_depth);
collider.proxy_index = self.proxies.insert(proxy);
layer_id
};
let layer = &mut self.layers[layer_id as usize];
// Preupdate the collider in the layer.
layer.preupdate_collider(collider, &aabb, &mut self.proxies, &mut self.region_pool);
need_region_propagation = need_region_propagation || !layer.created_regions.is_empty();
});
// Phase 3: bottom-up pass to propagate new regions from smaller layers to larger layers.
if need_region_propagation {
@@ -527,7 +541,7 @@ mod test {
broad_phase.update_aabbs(0.0, &bodies, &mut colliders);
bodies.remove(hrb, &mut colliders, &mut joints);
broad_phase.maintain(&mut colliders);
broad_phase.handle_user_changes(&mut colliders);
broad_phase.update_aabbs(0.0, &bodies, &mut colliders);
// Create another body.

8
src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
View File

@@ -15,14 +15,6 @@ impl ColliderPair {
}
}
pub fn new_sorted(collider1: ColliderHandle, collider2: ColliderHandle) -> Self {
if collider1.into_raw_parts().0 <= collider2.into_raw_parts().0 {
Self::new(collider1, collider2)
} else {
Self::new(collider2, collider1)
}
}
pub fn swap(self) -> Self {
Self::new(self.collider2, self.collider1)
}

21
src/geometry/broad_phase_multi_sap/sap_layer.rs
View File

@@ -294,7 +294,7 @@ impl SAPLayer {
proxies[*subregion_id].data.as_region_mut().mark_as_dirty();
}
if region.subproper_proxy_count == 0 {
if !region.contains_subproper_proxies() {
self.regions_to_potentially_remove.push(*point);
}
@@ -325,7 +325,7 @@ impl SAPLayer {
region.update_after_subregion_removal(proxies, self.depth);
// Check if we can actually delete this region.
if region.subproper_proxy_count == 0 {
if !region.contains_subproper_proxies() {
let region_id = region_id.remove();
// We can delete this region. So we need to tell the larger
@@ -352,4 +352,21 @@ impl SAPLayer {
}
}
}
pub fn proper_proxy_moved_to_bigger_layer(
&mut self,
proxies: &mut SAPProxies,
proxy_id: SAPProxyIndex,
) {
for (point, region_id) in &self.regions {
let region = &mut proxies[*region_id].data.as_region_mut();
let region_contains_proxy = region.proper_proxy_moved_to_a_bigger_layer(proxy_id);
// If that proper proxy was the last one keeping that region
// alive, mark the region as potentially removable.
if region_contains_proxy && !region.contains_subproper_proxies() {
self.regions_to_potentially_remove.push(*point);
}
}
}
}

19
src/geometry/broad_phase_multi_sap/sap_region.rs
View File

@@ -21,7 +21,7 @@ pub struct SAPRegion {
// Number of proxies (added to this region) that originates
// from the layer at depth <= the depth of the layer containing
// this region.
pub subproper_proxy_count: usize,
subproper_proxy_count: usize,
}
impl SAPRegion {
@@ -73,6 +73,23 @@ impl SAPRegion {
}
}
/// Does this region still contain endpoints of subproper proxies?
pub fn contains_subproper_proxies(&self) -> bool {
self.subproper_proxy_count > 0
}
/// If this region contains the given proxy, this will decrement this region's proxy count.
///
/// Returns `true` if this region contained the proxy. Returns `false` otherwise.
pub fn proper_proxy_moved_to_a_bigger_layer(&mut self, proxy_id: SAPProxyIndex) -> bool {
if self.existing_proxies[proxy_id as usize] {
self.subproper_proxy_count -= 1;
true
} else {
false
}
}
/// Deletes from the axes of this region all the endpoints that point
/// to a region.
pub fn delete_all_region_endpoints(&mut self, proxies: &SAPProxies) {