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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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6
src_testbed/harness/mod.rs
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@@ -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)