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feat: implement new "small-steps" solver + joint improvements

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This commit is contained in:
Sébastien Crozet
2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
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4
src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
View File

@@ -8,7 +8,7 @@ use crate::geometry::{Cone, Cylinder};
use crate::math::{Isometry, Point, Real, Vector, DIM};
use crate::pipeline::debug_render_pipeline::debug_render_backend::DebugRenderObject;
use crate::pipeline::debug_render_pipeline::DebugRenderStyle;
use crate::utils::WBasis;
use crate::utils::SimdBasis;
use std::any::TypeId;
use std::collections::HashMap;
@@ -221,7 +221,7 @@ impl DebugRenderPipeline {
}
if self.mode.contains(DebugRenderMode::MULTIBODY_JOINTS) {
for (handle, multibody, link) in multibody_joints.iter() {
for (handle, _, multibody, link) in multibody_joints.iter() {
let anc_color = self.style.multibody_joint_anchor_color;
let sep_color = self.style.multibody_joint_separation_color;
let parent = multibody.link(link.parent_id().unwrap()).unwrap();

31
src/pipeline/physics_pipeline.rs
View File

@@ -1,14 +1,14 @@
//! Physics pipeline structures.
use crate::counters::Counters;
#[cfg(not(feature = "parallel"))]
// #[cfg(not(feature = "parallel"))]
use crate::dynamics::IslandSolver;
#[cfg(feature = "parallel")]
use crate::dynamics::JointGraphEdge;
use crate::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodyChanges, RigidBodyHandle, RigidBodyPosition, RigidBodyType,
};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
ContactManifoldIndex, NarrowPhase, TemporaryInteractionIndex,
@@ -206,19 +206,14 @@ impl PhysicsPipeline {
self.counters.stages.update_time.resume();
for handle in islands.active_dynamic_bodies() {
// TODO: should that be moved to the solver (just like we moved
// the multibody dynamics update) since it depends on dt?
let rb = bodies.index_mut_internal(*handle);
rb.mprops.update_world_mass_properties(&rb.pos.position);
let effective_mass = rb.mprops.effective_mass();
rb.forces
.compute_effective_force_and_torque(&gravity, &effective_mass);
}
for multibody in &mut multibody_joints.multibodies {
multibody
.1
.update_dynamics(integration_parameters.dt, bodies);
multibody.1.update_acceleration(bodies);
}
self.counters.stages.update_time.pause();
self.counters.stages.solver_time.resume();
@@ -263,6 +258,10 @@ impl PhysicsPipeline {
let manifold_indices = &self.manifold_indices[..];
let joint_constraint_indices = &self.joint_constraint_indices[..];
// PERF: right now, we are only doing islands-based parallelism.
// Intra-island parallelism (that hasn’t been ported to the new
// solver yet) will be supported in the future.
self.counters.solver.velocity_resolution_time.resume();
rayon::scope(|scope| {
enable_flush_to_zero!();
@@ -280,20 +279,22 @@ impl PhysicsPipeline {
std::mem::transmute(multibody_joints.load(Ordering::Relaxed))
};
let mut counters = Counters::new(false);
solver.init_and_solve(
scope,
island_id,
islands,
&mut counters,
integration_parameters,
islands,
bodies,
manifolds,
&manifold_indices[island_id],
&mut manifolds[..],
&self.manifold_indices[island_id],
impulse_joints,
&joint_constraint_indices[island_id],
&self.joint_constraint_indices[island_id],
multibody_joints,
)
});
});
self.counters.solver.velocity_resolution_time.pause();
}
// Generate contact force events if needed.