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Split rigid-bodies and colliders into multiple components

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This commit is contained in:
Crozet Sébastien
2021-04-26 17:59:25 +02:00
parent aaf80bfa87
commit c32da78f2a
91 changed files with 5969 additions and 3653 deletions
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96
src/dynamics/solver/interaction_groups.rs
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@@ -1,4 +1,8 @@
use crate::dynamics::{BodyPair, JointGraphEdge, JointIndex, RigidBodySet};
use crate::data::{BundleSet, ComponentSet};
#[cfg(feature = "parallel")]
use crate::dynamics::BodyPair;
use crate::dynamics::{IslandManager, RigidBodyIds, RigidBodyType};
use crate::dynamics::{JointGraphEdge, JointIndex};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")]
use {
@@ -6,16 +10,19 @@ use {
vec_map::VecMap,
};
#[cfg(feature = "parallel")]
pub(crate) trait PairInteraction {
fn body_pair(&self) -> BodyPair;
}
#[cfg(feature = "parallel")]
impl<'a> PairInteraction for &'a mut ContactManifold {
fn body_pair(&self) -> BodyPair {
self.data.body_pair
}
}
#[cfg(feature = "parallel")]
impl<'a> PairInteraction for JointGraphEdge {
fn body_pair(&self) -> BodyPair {
BodyPair::new(self.weight.body1, self.weight.body2)
@@ -54,7 +61,7 @@ impl ParallelInteractionGroups {
pub fn group_interactions<Interaction: PairInteraction>(
&mut self,
island_id: usize,
bodies: &RigidBodySet,
bodies: &impl ComponentSet<RigidBody>,
interactions: &[Interaction],
interaction_indices: &[usize],
) {
@@ -78,8 +85,8 @@ impl ParallelInteractionGroups {
.zip(self.interaction_colors.iter_mut())
{
let body_pair = interactions[*interaction_id].body_pair();
let rb1 = &bodies[body_pair.body1];
let rb2 = &bodies[body_pair.body2];
let rb1 = bodies.index(body_pair.body1);
let rb2 = bodies.index(body_pair.body2);
match (rb1.is_static(), rb2.is_static()) {
(false, false) => {
@@ -168,14 +175,15 @@ impl InteractionGroups {
self.nongrouped_interactions.clear();
}
// FIXME: there is a lot of duplicated code with group_manifolds here.
// TODO: there is a lot of duplicated code with group_manifolds here.
// But we don't refactor just now because we may end up with distinct
// grouping strategies in the future.
#[cfg(not(feature = "simd-is-enabled"))]
pub fn group_joints(
&mut self,
_island_id: usize,
_bodies: &RigidBodySet,
_islands: &IslandManager,
_bodies: &impl ComponentSet<RigidBodyIds>,
_interactions: &[JointGraphEdge],
interaction_indices: &[JointIndex],
) {
@@ -184,13 +192,16 @@ impl InteractionGroups {
}
#[cfg(feature = "simd-is-enabled")]
pub fn group_joints(
pub fn group_joints<Bodies>(
&mut self,
island_id: usize,
bodies: &RigidBodySet,
islands: &IslandManager,
bodies: &Bodies,
interactions: &[JointGraphEdge],
interaction_indices: &[JointIndex],
) {
) where
Bodies: ComponentSet<RigidBodyType> + ComponentSet<RigidBodyIds>,
{
// NOTE: in 3D we have up to 10 different joint types.
// In 2D we only have 5 joint types.
#[cfg(feature = "dim3")]
@@ -204,11 +215,11 @@ impl InteractionGroups {
// Note: each bit of a body mask indicates what bucket already contains
// a constraints involving this body.
// FIXME: currently, this is a bit overconservative because when a bucket
// TODO: currently, this is a bit overconservative because when a bucket
// is full, we don't clear the corresponding body mask bit. This may result
// in less grouped constraints.
self.body_masks
.resize(bodies.active_island(island_id).len(), 0u128);
.resize(islands.active_island(island_id).len(), 0u128);
// NOTE: each bit of the occupied mask indicates what bucket already
// contains at least one constraint.
@@ -216,10 +227,14 @@ impl InteractionGroups {
for interaction_i in interaction_indices {
let interaction = &interactions[*interaction_i].weight;
let body1 = &bodies[interaction.body1];
let body2 = &bodies[interaction.body2];
let is_static1 = !body1.is_dynamic();
let is_static2 = !body2.is_dynamic();
let (status1, ids1): (&RigidBodyType, &RigidBodyIds) =
bodies.index_bundle(interaction.body1.0);
let (status2, ids2): (&RigidBodyType, &RigidBodyIds) =
bodies.index_bundle(interaction.body2.0);
let is_static1 = !status1.is_dynamic();
let is_static2 = !status2.is_dynamic();
if is_static1 && is_static2 {
continue;
@@ -232,8 +247,8 @@ impl InteractionGroups {
}
let ijoint = interaction.params.type_id();
let i1 = body1.active_set_offset;
let i2 = body2.active_set_offset;
let i1 = ids1.active_set_offset;
let i2 = ids2.active_set_offset;
let conflicts =
self.body_masks[i1] | self.body_masks[i2] | joint_type_conflicts[ijoint];
let conflictfree_targets = !(conflicts & occupied_mask); // The & is because we consider empty buckets as free of conflicts.
@@ -325,7 +340,8 @@ impl InteractionGroups {
pub fn group_manifolds(
&mut self,
_island_id: usize,
_bodies: &RigidBodySet,
_islands: &IslandManager,
_bodies: &impl ComponentSet<RigidBodyIds>,
_interactions: &[&mut ContactManifold],
interaction_indices: &[ContactManifoldIndex],
) {
@@ -334,21 +350,24 @@ impl InteractionGroups {
}
#[cfg(feature = "simd-is-enabled")]
pub fn group_manifolds(
pub fn group_manifolds<Bodies>(
&mut self,
island_id: usize,
bodies: &RigidBodySet,
islands: &IslandManager,
bodies: &Bodies,
interactions: &[&mut ContactManifold],
interaction_indices: &[ContactManifoldIndex],
) {
) where
Bodies: ComponentSet<RigidBodyType> + ComponentSet<RigidBodyIds>,
{
// Note: each bit of a body mask indicates what bucket already contains
// a constraints involving this body.
// FIXME: currently, this is a bit overconservative because when a bucket
// TODO: currently, this is a bit overconservative because when a bucket
// is full, we don't clear the corresponding body mask bit. This may result
// in less grouped contacts.
// NOTE: body_masks and buckets are already cleared/zeroed at the end of each sort loop.
self.body_masks
.resize(bodies.active_island(island_id).len(), 0u128);
.resize(islands.active_island(island_id).len(), 0u128);
// NOTE: each bit of the occupied mask indicates what bucket already
// contains at least one constraint.
@@ -359,31 +378,44 @@ impl InteractionGroups {
.max()
.unwrap_or(1);
// FIXME: find a way to reduce the number of iteration.
// TODO: find a way to reduce the number of iteration.
// There must be a way to iterate just once on every interaction indices
// instead of MAX_MANIFOLD_POINTS times.
for k in 1..=max_interaction_points {
for interaction_i in interaction_indices {
let interaction = &interactions[*interaction_i];
// FIXME: how could we avoid iterating
// TODO: how could we avoid iterating
// on each interaction at every iteration on k?
if interaction.data.num_active_contacts() != k {
continue;
}
let body1 = &bodies[interaction.data.body_pair.body1];
let body2 = &bodies[interaction.data.body_pair.body2];
let is_static1 = !body1.is_dynamic();
let is_static2 = !body2.is_dynamic();
let (status1, active_set_offset1) = if let Some(rb1) = interaction.data.rigid_body1
{
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb1.0);
(*data.0, data.1.active_set_offset)
} else {
(RigidBodyType::Static, 0)
};
let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
{
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb2.0);
(*data.0, data.1.active_set_offset)
} else {
(RigidBodyType::Static, 0)
};
// FIXME: don't generate interactions between static bodies in the first place.
let is_static1 = !status1.is_dynamic();
let is_static2 = !status2.is_dynamic();
// TODO: don't generate interactions between static bodies in the first place.
if is_static1 && is_static2 {
continue;
}
let i1 = body1.active_set_offset;
let i2 = body2.active_set_offset;
let i1 = active_set_offset1;
let i2 = active_set_offset2;
let conflicts = self.body_masks[i1] | self.body_masks[i2];
let conflictfree_targets = !(conflicts & occupied_mask); // The & is because we consider empty buckets as free of conflicts.
let conflictfree_occupied_targets = conflictfree_targets & occupied_mask;