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CCD: take collision groups into account

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This commit is contained in:
Crozet Sébastien
2021-06-01 14:56:24 +02:00
parent 5ef81cda40
commit dbb3c8f43b
6 changed files with 107 additions and 48 deletions
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75
src/dynamics/ccd/ccd_solver.rs
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@@ -10,7 +10,7 @@ use crate::geometry::{
use crate::math::Real;
use crate::parry::utils::SortedPair;
use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
use crate::prelude::{ActiveEvents, ColliderFlags};
use crate::prelude::{ActiveEvents, ColliderFlags, ColliderGroups};
use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
use parry::utils::hashmap::HashMap;
use std::collections::BinaryHeap;
@@ -140,7 +140,8 @@ impl CCDSolver {
Colliders: ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderType>,
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderGroups>,
{
// Update the query pipeline.
self.query_pipeline.update_with_mode(
@@ -201,16 +202,21 @@ impl CCDSolver {
{
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _) = colliders.index_bundle(ch1.0);
let c2: (_, _, _) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0);
let co_type1: &ColliderType = colliders.index(ch1.0);
let co_type2: &ColliderType = colliders.index(ch1.0);
let bh1 = co_parent1.map(|p| p.handle);
let bh2 = co_parent2.map(|p| p.handle);
if bh1 == bh2 || (co_type1.is_sensor() || co_type2.is_sensor()) {
// Ignore self-intersection and sensors.
// Ignore self-intersection and sensors and apply collision groups filter.
if bh1 == bh2 // Ignore self-intersection.
|| (co_type1.is_sensor() || co_type2.is_sensor()) // Ignore sensors.
|| !c1.3.collision_groups.test(c2.3.collision_groups) // Apply collision groups.
|| !c1.3.solver_groups.test(c2.3.solver_groups)
// Apply solver groups.
{
return true;
}
@@ -226,8 +232,8 @@ impl CCDSolver {
self.query_pipeline.query_dispatcher(),
*ch1,
*ch2,
(c1.0, c1.1, c1.2, co_parent1),
(c2.0, c2.1, c2.2, co_parent2),
(c1.0, c1.1, c1.2, c1.3, co_parent1),
(c2.0, c2.1, c2.2, c2.3, co_parent2),
Some((rb_pos1, rb_vels1, rb_mprops1, rb_ccd1)),
b2,
None,
@@ -274,7 +280,8 @@ impl CCDSolver {
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>,
+ ComponentSet<ColliderFlags>
+ ComponentSet<ColliderGroups>,
{
let mut frozen = HashMap::<_, Real>::default();
let mut all_toi = BinaryHeap::new();
@@ -336,14 +343,15 @@ impl CCDSolver {
{
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _) = colliders.index_bundle(ch1.0);
let c2: (_, _, _) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0);
let bh1 = co_parent1.map(|p| p.handle);
let bh2 = co_parent2.map(|p| p.handle);
if bh1 == bh2 {
// Ignore self-intersection.
// Ignore self-intersections and apply groups filter.
if bh1 == bh2 || !c1.3.collision_groups.test(c2.3.collision_groups)
{
return true;
}
@@ -360,8 +368,8 @@ impl CCDSolver {
self.query_pipeline.query_dispatcher(),
*ch1,
*ch2,
(c1.0, c1.1, c1.2, co_parent1),
(c2.0, c2.1, c2.2, co_parent2),
(c1.0, c1.1, c1.2, c1.3, co_parent1),
(c2.0, c2.1, c2.2, c2.3, co_parent2),
b1,
b2,
None,
@@ -400,7 +408,7 @@ impl CCDSolver {
// NOTE: all static bodies (and kinematic bodies?) should be considered as "frozen", this
// may avoid some resweeps.
let mut intersections_to_check = vec![];
let mut pseudo_intersections_to_check = vec![];
while let Some(toi) = all_toi.pop() {
assert!(toi.toi <= dt);
@@ -422,7 +430,7 @@ impl CCDSolver {
continue;
}
if toi.is_intersection_test {
if toi.is_pseudo_intersection_test {
// NOTE: this test is redundant with the previous `if !should_freeze && ...`
// but let's keep it to avoid tricky regressions if we end up swapping both
// `if` for some reasons in the future.
@@ -430,7 +438,7 @@ impl CCDSolver {
// This is only an intersection so we don't have to freeze and there is no
// need to resweep. However we will need to see if we have to generate
// intersection events, so push the TOI for further testing.
intersections_to_check.push(toi);
pseudo_intersections_to_check.push(toi);
}
continue;
}
@@ -462,14 +470,14 @@ impl CCDSolver {
.colliders_with_aabb_intersecting_aabb(&aabb, |ch2| {
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _) = colliders.index_bundle(ch1.0);
let c2: (_, _, _) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0);
let bh1 = co_parent1.map(|p| p.handle);
let bh2 = co_parent2.map(|p| p.handle);
if bh1 == bh2 {
// Ignore self-intersection.
// Ignore self-intersection and apply groups filter.
if bh1 == bh2 || !c1.3.collision_groups.test(c2.3.collision_groups) {
return true;
}
@@ -498,8 +506,8 @@ impl CCDSolver {
self.query_pipeline.query_dispatcher(),
*ch1,
*ch2,
(c1.0, c1.1, c1.2, co_parent1),
(c2.0, c2.1, c2.2, co_parent2),
(c1.0, c1.1, c1.2, c1.3, co_parent1),
(c2.0, c2.1, c2.2, c2.3, co_parent2),
b1,
b2,
frozen1.copied(),
@@ -516,7 +524,7 @@ impl CCDSolver {
}
}
for toi in intersections_to_check {
for toi in pseudo_intersections_to_check {
// See if the intersection is still active once the bodies
// reach their final positions.
// - If the intersection is still active, don't report it yet. It will be
@@ -524,17 +532,30 @@ impl CCDSolver {
// - If the intersection isn't active anymore, and it wasn't intersecting
// before, then we need to generate one interaction-start and one interaction-stop
// events because it will never be detected by the narrow-phase because of tunneling.
let (co_pos1, co_shape1, co_flags1): (
let (co_type1, co_pos1, co_shape1, co_flags1): (
&ColliderType,
&ColliderPosition,
&ColliderShape,
&ColliderFlags,
) = colliders.index_bundle(toi.c1.0);
let (co_pos2, co_shape2, co_flags2): (
let (co_type2, co_pos2, co_shape2, co_flags2): (
&ColliderType,
&ColliderPosition,
&ColliderShape,
&ColliderFlags,
) = colliders.index_bundle(toi.c2.0);
if !co_type1.is_sensor() && !co_type2.is_sensor() {
// TODO: this happens if we found a TOI between two non-sensor
// colliders with mismatching solver_flags. It is not clear
// what we should do in this case: we could report a
// contact started/contact stopped event for example. But in
// that case, what contact pair should be pass to these events?
// For now we just ignore this special case. Let's wait for an actual
// use-case to come up before we determine what we want to do here.
continue;
}
let co_next_pos1 = if let Some(b1) = toi.b1 {
let co_parent1: &ColliderParent = colliders.get(toi.c1.0).unwrap();
let (rb_pos1, rb_vels1, rb_mprops1): (