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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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7
src_testbed/box2d_backend.rs
View File

@@ -223,11 +223,8 @@ impl Box2dWorld {
pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) {
counters.step_started();
self.world.step(
params.dt,
params.max_velocity_iterations as i32,
params.max_stabilization_iterations as i32,
);
self.world
.step(params.dt, params.num_solver_iterations.get() as i32, 1);
counters.step_completed();
}

1
src_testbed/lib.rs
View File

@@ -12,6 +12,7 @@ pub use crate::harness::plugin::HarnessPlugin;
pub use crate::physics::PhysicsState;
pub use crate::plugin::TestbedPlugin;
pub use crate::testbed::{Testbed, TestbedApp, TestbedGraphics, TestbedState};
pub use bevy::prelude::KeyCode;
#[cfg(all(feature = "dim2", feature = "other-backends"))]
mod box2d_backend;

7
src_testbed/physx_backend.rs
View File

@@ -209,10 +209,9 @@ impl PhysxWorld {
actor.set_linear_velocity(&linvel, true);
actor.set_angular_velocity(&angvel, true);
actor.set_solver_iteration_counts(
// Use our number of velocity iterations as their number of position iterations.
integration_parameters.max_velocity_iterations.max(1) as u32,
// Use our number of velocity stabilization iterations as their number of velocity iterations.
integration_parameters.max_stabilization_iterations.max(1) as u32,
// Use our number of solver iterations as their number of position iterations.
integration_parameters.num_solver_iterations.get() as u32,
1,
);
rapier2dynamic.insert(rapier_handle, actor);

17
src_testbed/testbed.rs
View File

@@ -1,5 +1,6 @@
use std::env;
use std::mem;
use std::num::NonZeroUsize;
use bevy::prelude::*;
@@ -147,6 +148,7 @@ pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
#[allow(dead_code)] // Dead in 2D but not in 3D.
camera_transform: GlobalTransform,
camera: &'a mut OrbitCamera,
keys: &'a Input<KeyCode>,
}
pub struct Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
@@ -284,11 +286,7 @@ impl TestbedApp {
self.harness
.physics
.integration_parameters
.max_velocity_iterations = 4;
self.harness
.physics
.integration_parameters
.max_stabilization_iterations = 1;
.num_solver_iterations = NonZeroUsize::new(4).unwrap();
// Init world.
let mut testbed = Testbed {
@@ -458,6 +456,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f> {
colliders,
)
}
pub fn keys(&self) -> &Input<KeyCode> {
&*self.keys
}
}
impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
@@ -910,7 +912,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
.multibody_joints
.iter()
.next()
.map(|a| a.2.rigid_body_handle());
.map(|(_, _, _, link)| link.rigid_body_handle());
if let Some(to_delete) = to_delete {
self.harness
.physics
@@ -1107,6 +1109,7 @@ fn update_testbed(
components: &mut gfx_components,
camera_transform: *cameras.single().1,
camera: &mut cameras.single_mut().2,
keys: &*keys,
};
let mut testbed = Testbed {
@@ -1200,6 +1203,7 @@ fn update_testbed(
components: &mut gfx_components,
camera_transform: *cameras.single().1,
camera: &mut cameras.single_mut().2,
keys: &*keys,
};
let mut testbed = Testbed {
@@ -1351,6 +1355,7 @@ fn update_testbed(
components: &mut gfx_components,
camera_transform: *cameras.single().1,
camera: &mut cameras.single_mut().2,
keys: &*keys,
};
harness.step_with_graphics(Some(&mut testbed_graphics));

43
src_testbed/ui.rs
View File

@@ -1,5 +1,6 @@
use rapier::counters::Counters;
use rapier::math::Real;
use std::num::NonZeroUsize;
use crate::debug_render::DebugRenderPipelineResource;
use crate::harness::Harness;
@@ -98,43 +99,25 @@ pub fn update_ui(
let integration_parameters = &mut harness.physics.integration_parameters;
ui.checkbox(
&mut integration_parameters.interleave_restitution_and_friction_resolution,
"interleave friction resolution",
);
if state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
|| state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
{
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 1..=200)
.text("pos. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_stabilization_iterations,
1..=200,
)
.text("vel. iters."),
);
let mut num_iterations = integration_parameters.num_solver_iterations.get();
ui.add(Slider::new(&mut num_iterations, 1..=40).text("pos. iters."));
integration_parameters.num_solver_iterations =
NonZeroUsize::new(num_iterations).unwrap();
} else {
ui.add(
Slider::new(&mut integration_parameters.max_velocity_iterations, 1..=200)
.text("vel. rest. iters."),
);
let mut num_iterations = integration_parameters.num_solver_iterations.get();
ui.add(Slider::new(&mut num_iterations, 1..=40).text("num solver iters."));
integration_parameters.num_solver_iterations =
NonZeroUsize::new(num_iterations).unwrap();
ui.add(
Slider::new(
&mut integration_parameters.max_velocity_friction_iterations,
1..=200,
&mut integration_parameters.num_friction_iteration_per_solver_iteration,
1..=40,
)
.text("vel. frict. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_stabilization_iterations,
1..=200,
)
.text("vel. stab. iters."),
.text("frict. iters. per solver iters."),
);
}