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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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24
src/dynamics/ccd/toi_entry.rs
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@@ -2,7 +2,7 @@ use crate::dynamics::{
RigidBodyCcd, RigidBodyHandle, RigidBodyMassProps, RigidBodyPosition, RigidBodyVelocity,
};
use crate::geometry::{
ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
ColliderGroups, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
};
use crate::math::Real;
use parry::query::{NonlinearRigidMotion, QueryDispatcher};
@@ -14,7 +14,9 @@ pub struct TOIEntry {
pub b1: Option<RigidBodyHandle>,
pub c2: ColliderHandle,
pub b2: Option<RigidBodyHandle>,
pub is_intersection_test: bool,
// We call this "pseudo" intersection because this also
// includes colliders pairs with mismatching solver_groups.
pub is_pseudo_intersection_test: bool,
pub timestamp: usize,
}
@@ -25,7 +27,7 @@ impl TOIEntry {
b1: Option<RigidBodyHandle>,
c2: ColliderHandle,
b2: Option<RigidBodyHandle>,
is_intersection_test: bool,
is_pseudo_intersection_test: bool,
timestamp: usize,
) -> Self {
Self {
@@ -34,7 +36,7 @@ impl TOIEntry {
b1,
c2,
b2,
is_intersection_test,
is_pseudo_intersection_test,
timestamp,
}
}
@@ -47,12 +49,14 @@ impl TOIEntry {
&ColliderType,
&ColliderShape,
&ColliderPosition,
&ColliderGroups,
Option<&ColliderParent>,
),
c2: (
&ColliderType,
&ColliderShape,
&ColliderPosition,
&ColliderGroups,
Option<&ColliderParent>,
),
b1: Option<(
@@ -78,8 +82,8 @@ impl TOIEntry {
return None;
}
let (co_type1, co_shape1, co_pos1, co_parent1) = c1;
let (co_type2, co_shape2, co_pos2, co_parent2) = c2;
let (co_type1, co_shape1, co_pos1, co_groups1, co_parent1) = c1;
let (co_type2, co_shape2, co_pos2, co_groups2, co_parent2) = c2;
let linvel1 =
frozen1.is_none() as u32 as Real * b1.map(|b| b.1.linvel).unwrap_or(na::zero());
@@ -104,7 +108,9 @@ impl TOIEntry {
// keep it since more conservatism is good at this stage.
let thickness = (co_shape1.0.ccd_thickness() + co_shape2.0.ccd_thickness())
+ smallest_contact_dist.max(0.0);
let is_intersection_test = co_type1.is_sensor() || co_type2.is_sensor();
let is_pseudo_intersection_test = co_type1.is_sensor()
|| co_type2.is_sensor()
|| !co_groups1.solver_groups.test(co_groups2.solver_groups);
if (end_time - start_time) * vel12 < thickness {
return None;
@@ -135,7 +141,7 @@ impl TOIEntry {
// If the TOI search involves two non-sensor colliders then
// we don't want to stop the TOI search at the first penetration
// because the colliders may be in a separating trajectory.
let stop_at_penetration = is_intersection_test;
let stop_at_penetration = is_pseudo_intersection_test;
let res_toi = query_dispatcher
.nonlinear_time_of_impact(
@@ -157,7 +163,7 @@ impl TOIEntry {
co_parent1.map(|p| p.handle),
ch2,
co_parent2.map(|p| p.handle),
is_intersection_test,
is_pseudo_intersection_test,
0,
))
}