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

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This commit is contained in:
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_testbed/box2d_backend.rs
View File

@@ -37,7 +37,7 @@ impl Box2dWorld {
joints: &JointSet,
) -> Self {
let mut world = b2::World::new(&na_vec_to_b2_vec(gravity));
world.set_continuous_physics(false);
world.set_continuous_physics(bodies.iter().any(|b| b.1.is_ccd_enabled()));
let mut res = Box2dWorld {
world,
@@ -77,14 +77,11 @@ impl Box2dWorld {
angular_velocity: body.angvel(),
linear_damping,
angular_damping,
bullet: body.is_ccd_enabled(),
..b2::BodyDef::new()
};
let b2_handle = self.world.create_body(&def);
self.rapier2box2d.insert(handle, b2_handle);
// Collider.
let mut b2_body = self.world.body_mut(b2_handle);
b2_body.set_bullet(false /* collider.is_ccd_enabled() */);
}
}
@@ -163,7 +160,7 @@ impl Box2dWorld {
fixture_def.restitution = collider.restitution;
fixture_def.friction = collider.friction;
fixture_def.density = collider.density();
fixture_def.density = collider.density().unwrap_or(1.0);
fixture_def.is_sensor = collider.is_sensor();
fixture_def.filter = b2::Filter::new();
@@ -215,8 +212,6 @@ impl Box2dWorld {
}
pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) {
// self.world.set_continuous_physics(world.integration_parameters.max_ccd_substeps != 0);
counters.step_started();
self.world.step(
params.dt,

6
src_testbed/harness/mod.rs
View File

@@ -4,7 +4,7 @@ use crate::{
};
use kiss3d::window::Window;
use plugin::HarnessPlugin;
use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
use rapier::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -133,6 +133,7 @@ impl Harness {
self.physics.broad_phase = BroadPhase::new();
self.physics.narrow_phase = NarrowPhase::new();
self.state.timestep_id = 0;
self.physics.ccd_solver = CCDSolver::new();
self.physics.query_pipeline = QueryPipeline::new();
self.physics.pipeline = PhysicsPipeline::new();
self.physics.pipeline.counters.enable();
@@ -194,13 +195,14 @@ impl Harness {
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
Some(&mut self.physics.ccd_solver),
&*self.physics.hooks,
&self.event_handler,
);
self.physics
.query_pipeline
.update(&self.physics.bodies, &self.physics.colliders);
.update(&self.physics.bodies, &self.physics.colliders, false);
for plugin in &mut self.plugins {
plugin.step(&mut self.physics, &self.state)

4
src_testbed/physics/mod.rs
View File

@@ -1,5 +1,5 @@
use crossbeam::channel::Receiver;
use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
use rapier::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -73,6 +73,7 @@ pub struct PhysicsState {
pub bodies: RigidBodySet,
pub colliders: ColliderSet,
pub joints: JointSet,
pub ccd_solver: CCDSolver,
pub pipeline: PhysicsPipeline,
pub query_pipeline: QueryPipeline,
pub integration_parameters: IntegrationParameters,
@@ -88,6 +89,7 @@ impl PhysicsState {
bodies: RigidBodySet::new(),
colliders: ColliderSet::new(),
joints: JointSet::new(),
ccd_solver: CCDSolver::new(),
pipeline: PhysicsPipeline::new(),
query_pipeline: QueryPipeline::new(),
integration_parameters: IntegrationParameters::default(),

38
src_testbed/physx_backend.rs
View File

@@ -13,8 +13,8 @@ use physx::prelude::*;
use physx::scene::FrictionType;
use physx::traits::Class;
use physx_sys::{
PxBitAndByte, PxConvexFlags, PxConvexMeshGeometryFlags, PxHeightFieldSample,
PxMeshGeometryFlags, PxMeshScale_new, PxRigidActor,
FilterShaderCallbackInfo, PxBitAndByte, PxConvexFlags, PxConvexMeshGeometryFlags,
PxHeightFieldSample, PxMeshGeometryFlags, PxMeshScale_new, PxRigidActor,
};
use rapier::counters::Counters;
use rapier::dynamics::{
@@ -160,7 +160,7 @@ impl PhysxWorld {
FrictionType::Patch
};
let scene_desc = SceneDescriptor {
let mut scene_desc = SceneDescriptor {
gravity: gravity.into_physx(),
thread_count: num_threads as u32,
broad_phase_type: BroadPhaseType::AutomaticBoxPruning,
@@ -169,6 +169,14 @@ impl PhysxWorld {
..SceneDescriptor::new(())
};
let ccd_enabled = bodies.iter().any(|(_, rb)| rb.is_ccd_enabled());
if ccd_enabled {
scene_desc.simulation_filter_shader =
FilterShaderDescriptor::CallDefaultFirst(ccd_filter_shader);
scene_desc.flags.insert(SceneFlag::EnableCcd);
}
let mut scene: Owner<PxScene> = physics.create(scene_desc).unwrap();
let mut rapier2dynamic = HashMap::new();
let mut rapier2static = HashMap::new();
@@ -231,7 +239,7 @@ impl PhysxWorld {
}
}
// Update mass properties.
// Update mass properties and CCD flags.
for (rapier_handle, actor) in rapier2dynamic.iter_mut() {
let rb = &bodies[*rapier_handle];
let densities: Vec<_> = rb
@@ -248,6 +256,23 @@ impl PhysxWorld {
std::ptr::null(),
false,
);
if rb.is_ccd_enabled() {
physx_sys::PxRigidBody_setRigidBodyFlag_mut(
std::mem::transmute(actor.as_mut()),
RigidBodyFlag::EnableCCD as u32,
true,
);
// physx_sys::PxRigidBody_setMinCCDAdvanceCoefficient_mut(
// std::mem::transmute(actor.as_mut()),
// 0.0,
// );
// physx_sys::PxRigidBody_setRigidBodyFlag_mut(
// std::mem::transmute(actor.as_mut()),
// RigidBodyFlag::EnableCCDFriction as u32,
// true,
// );
}
}
}
@@ -699,3 +724,8 @@ impl AdvanceCallback<PxArticulationLink, PxRigidDynamic> for OnAdvance {
) {
}
}
unsafe extern "C" fn ccd_filter_shader(data: *mut FilterShaderCallbackInfo) -> u16 {
(*(*data).pairFlags).mBits |= physx_sys::PxPairFlag::eDETECT_CCD_CONTACT as u16;
0
}

44
src_testbed/testbed.rs
View File

@@ -769,11 +769,38 @@ impl Testbed {
}
#[cfg(feature = "dim3")]
fn handle_special_event(&mut self, window: &mut Window, _event: Event) {
fn handle_special_event(&mut self, window: &mut Window, event: Event) {
use rapier::dynamics::RigidBodyBuilder;
use rapier::geometry::ColliderBuilder;
if window.is_conrod_ui_capturing_mouse() {
return;
}
match event.value {
WindowEvent::Key(Key::Space, Action::Release, _) => {
let cam_pos = self.graphics.camera().view_transform().inverse();
let forward = cam_pos * -Vector::z();
let vel = forward * 1000.0;
let bodies = &mut self.harness.physics.bodies;
let colliders = &mut self.harness.physics.colliders;
let collider = ColliderBuilder::cuboid(4.0, 2.0, 0.4).density(20.0).build();
// let collider = ColliderBuilder::ball(2.0).density(1.0).build();
let body = RigidBodyBuilder::new_dynamic()
.position(cam_pos)
.linvel(vel.x, vel.y, vel.z)
.ccd_enabled(true)
.build();
let body_handle = bodies.insert(body);
colliders.insert(collider, body_handle, bodies);
self.graphics.add(window, body_handle, bodies, colliders);
}
_ => {}
}
/*
match event.value {
WindowEvent::MouseButton(MouseButton::Button1, Action::Press, modifier) => {
@@ -1454,6 +1481,20 @@ Hashes at frame: {}
fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet) {
for pair in nf.contact_pairs() {
for manifold in &pair.manifolds {
for contact in &manifold.data.solver_contacts {
let color = if contact.dist > 0.0 {
Point3::new(0.0, 0.0, 1.0)
} else {
Point3::new(1.0, 0.0, 0.0)
};
let p = contact.point;
let n = manifold.data.normal;
use crate::engine::GraphicsWindow;
window.draw_graphics_line(&p, &(p + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
}
/*
for pt in manifold.contacts() {
let color = if pt.dist > 0.0 {
Point3::new(0.0, 0.0, 1.0)
@@ -1474,6 +1515,7 @@ fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet)
window.draw_graphics_line(&start, &(start + n * 0.4), &Point3::new(0.5, 1.0, 0.5));
window.draw_graphics_line(&start, &end, &color);
}
*/
}
}
}