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chore: make it easier to test ccd with linear vs. nonlinear shape-casting

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This commit is contained in:
Sébastien Crozet
2025-05-02 14:50:00 +02:00
committed by Sébastien Crozet
parent 0652b4592f
commit f49d0206cb
1 changed files with 32 additions and 27 deletions
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59
src/dynamics/ccd/toi_entry.rs
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@@ -1,7 +1,7 @@
use crate::dynamics::{RigidBody, RigidBodyHandle}; use crate::dynamics::{RigidBody, RigidBodyHandle};
use crate::geometry::{Collider, ColliderHandle}; use crate::geometry::{Collider, ColliderHandle};
use crate::math::Real; use crate::math::Real;
use parry::query::{NonlinearRigidMotion, QueryDispatcher}; use parry::query::{NonlinearRigidMotion, QueryDispatcher, ShapeCastOptions};
#[derive(Copy, Clone, Debug)] #[derive(Copy, Clone, Debug)]
pub struct TOIEntry { pub struct TOIEntry {
@@ -112,33 +112,38 @@ impl TOIEntry {
// because the colliders may be in a separating trajectory. // because the colliders may be in a separating trajectory.
let stop_at_penetration = is_pseudo_intersection_test; let stop_at_penetration = is_pseudo_intersection_test;
// let pos12 = motion_c1 const USE_NONLINEAR_SHAPE_CAST: bool = true;
// .position_at_time(start_time)
// .inv_mul(&motion_c2.position_at_time(start_time));
// let vel12 = linvel2 - linvel1;
// let res_toi = query_dispatcher
// .time_of_impact(
// &pos12,
// &vel12,
// co1.shape.as_ref(),
// co2.shape.as_ref(),
// end_time - start_time,
// )
// .ok();
let res_toi = query_dispatcher let toi = if USE_NONLINEAR_SHAPE_CAST {
.cast_shapes_nonlinear( query_dispatcher
&motion_c1, .cast_shapes_nonlinear(
co1.shape.as_ref(), &motion_c1,
&motion_c2, co1.shape.as_ref(),
co2.shape.as_ref(), &motion_c2,
start_time, co2.shape.as_ref(),
end_time, start_time,
stop_at_penetration, end_time,
) stop_at_penetration,
.ok(); )
.ok()??
let toi = res_toi??; } else {
let pos12 = motion_c1
.position_at_time(start_time)
.inv_mul(&motion_c2.position_at_time(start_time));
let vel12 = linvel2 - linvel1;
let options = ShapeCastOptions::with_max_time_of_impact(end_time - start_time);
let mut hit = query_dispatcher
.cast_shapes(
&pos12,
&vel12,
co1.shape.as_ref(),
co2.shape.as_ref(),
options,
)
.ok()??;
hit.time_of_impact += start_time;
hit
};
Some(Self::new( Some(Self::new(
toi.time_of_impact, toi.time_of_impact,