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First working version of non-linear CCD based on single-substep motion-clamping.

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Crozet Sébastien
2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
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11
src/pipeline/collision_pipeline.rs
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@@ -69,21 +69,18 @@ impl CollisionPipeline {
// // Update kinematic bodies velocities.
// bodies.foreach_active_kinematic_body_mut_internal(|_, body| {
// body.compute_velocity_from_predicted_position(integration_parameters.inv_dt());
// body.compute_velocity_from_next_position(integration_parameters.inv_dt());
// });
// Update colliders positions and kinematic bodies positions.
bodies.foreach_active_body_mut_internal(|_, rb| {
if rb.is_kinematic() {
rb.position = rb.predicted_position;
} else {
rb.update_predicted_position(0.0);
}
rb.position = rb.next_position;
rb.update_colliders_positions(colliders);
for handle in &rb.colliders {
let collider = &mut colliders[*handle];
collider.prev_position = collider.position;
collider.position = rb.position * collider.delta;
collider.predicted_position = rb.predicted_position * collider.delta;
}
});