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CCD: take angular motion and penetration depth into account in various thresholds.

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This commit is contained in:
Crozet Sébastien
2021-03-30 17:08:51 +02:00
parent c3a0c67272
commit d2ee642053
9 changed files with 187 additions and 50 deletions
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27
src/dynamics/ccd/toi_entry.rs
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@@ -47,16 +47,35 @@ impl TOIEntry {
frozen2: Option<Real>,
start_time: Real,
end_time: Real,
smallest_contact_dist: Real,
) -> Option<Self> {
assert!(start_time <= end_time);
let linvel1 = frozen1.is_none() as u32 as Real * b1.linvel;
let linvel2 = frozen2.is_none() as u32 as Real * b2.linvel;
let linvel1 = frozen1.is_none() as u32 as Real * b1.linvel();
let linvel2 = frozen2.is_none() as u32 as Real * b2.linvel();
let angvel1 = frozen1.is_none() as u32 as Real * b1.angvel();
let angvel2 = frozen2.is_none() as u32 as Real * b2.angvel();
let vel12 = linvel2 - linvel1;
let thickness = c1.shape().ccd_thickness() + c2.shape().ccd_thickness();
#[cfg(feature = "dim2")]
let vel12 = (linvel2 - linvel1).norm()
+ angvel1.abs() * b1.ccd_max_dist
+ angvel2.abs() * b2.ccd_max_dist;
#[cfg(feature = "dim3")]
let vel12 = (linvel2 - linvel1).norm()
+ angvel1.norm() * b1.ccd_max_dist
+ angvel2.norm() * b2.ccd_max_dist;
// We may be slightly over-conservative by taking the `max(0.0)` here.
// But removing the `max` doesn't really affect performances so let's
// keep it since more conservatism is good at this stage.
let thickness = (c1.shape().ccd_thickness() + c2.shape().ccd_thickness())
+ smallest_contact_dist.max(0.0);
let is_intersection_test = c1.is_sensor() || c2.is_sensor();
if (end_time - start_time) * vel12 < thickness {
return None;
}
// Compute the TOI.
let mut motion1 = Self::body_motion(b1);
let mut motion2 = Self::body_motion(b2);