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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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26
src/pipeline/query_pipeline.rs
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@@ -38,10 +38,20 @@ struct QueryPipelineAsCompositeShape<'a> {
groups: InteractionGroups,
}
/// Indicates how the colliders position should be taken into account when
/// updating the query pipeline.
pub enum QueryPipelineMode {
/// The `Collider::position` is taken into account.
CurrentPosition,
/// The `RigidBody::next_position * Collider::position_wrt_parent` is taken into account for
/// the colliders positions.
SweepTestWithNextPosition,
SweepTestWithPredictedPosition { dt: Real },
/// The `RigidBody::predict_position_using_velocity_and_forces * Collider::position_wrt_parent`
/// is taken into account for the colliders position.
SweepTestWithPredictedPosition {
/// The time used to integrate the rigid-body's velocity and acceleration.
dt: Real,
},
}
impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
@@ -137,19 +147,19 @@ impl QueryPipeline {
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}
QueryPipelineMode::SweepTestWithNextPosition => {
let data = colliders.iter().map(|(h, co)| {
let data = colliders.iter().map(|(h, c)| {
let next_position =
bodies[co.parent()].next_position * co.position_wrt_parent();
(h, co.compute_swept_aabb(&next_position))
bodies[c.parent()].next_position * c.position_wrt_parent();
(h, c.compute_swept_aabb(&next_position))
});
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
let data = colliders.iter().map(|(h, co)| {
let next_position = bodies[co.parent()]
let data = colliders.iter().map(|(h, c)| {
let next_position = bodies[c.parent()]
.predict_position_using_velocity_and_forces(dt)
* co.position_wrt_parent();
(h, co.compute_swept_aabb(&next_position))
* c.position_wrt_parent();
(h, c.compute_swept_aabb(&next_position))
});
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}