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feat: add warmstarting to contact constraints resolution

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This commit is contained in:
Sébastien Crozet
2024-04-21 18:55:11 +02:00
committed by Sébastien Crozet
parent da79d6fb5b
commit f58b4f7c19
32 changed files with 1540 additions and 342 deletions
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22
src_testbed/testbed.rs
View File

@@ -102,10 +102,12 @@ bitflags! {
}
}
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
#[derive(Copy, Clone, Debug, PartialEq, Eq, Default)]
pub enum RapierSolverType {
SmallStepsPgs,
StandardPgs,
#[default]
TgsSoft,
TgsSoftNoWarmstart,
PgsLegacy,
}
pub type SimulationBuilders = Vec<(&'static str, fn(&mut Testbed))>;
@@ -214,7 +216,7 @@ impl TestbedApp {
example_names: Vec::new(),
selected_example: 0,
selected_backend: RAPIER_BACKEND,
solver_type: RapierSolverType::SmallStepsPgs,
solver_type: RapierSolverType::default(),
physx_use_two_friction_directions: true,
nsteps: 1,
camera_locked: false,
@@ -1202,18 +1204,6 @@ fn update_testbed(
}
plugins.0.clear();
if state.selected_example != prev_example {
harness.physics.integration_parameters = IntegrationParameters::default();
match state.solver_type {
RapierSolverType::SmallStepsPgs => {} // It’s already the default.
RapierSolverType::StandardPgs => harness
.physics
.integration_parameters
.switch_to_standard_pgs_solver(),
}
}
let selected_example = state.selected_example;
let graphics = &mut *graphics;
let meshes = &mut *meshes;

36
src_testbed/ui.rs
View File

@@ -12,6 +12,7 @@ use crate::testbed::{
use crate::PhysicsState;
use bevy_egui::egui::Slider;
use bevy_egui::{egui, EguiContexts};
use rapier::dynamics::IntegrationParameters;
pub fn update_ui(
ui_context: &mut EguiContexts,
@@ -109,8 +110,9 @@ pub fn update_ui(
.selected_text(format!("{:?}", state.solver_type))
.show_ui(ui, |ui| {
let solver_types = [
RapierSolverType::SmallStepsPgs,
RapierSolverType::StandardPgs,
RapierSolverType::TgsSoft,
RapierSolverType::TgsSoftNoWarmstart,
RapierSolverType::PgsLegacy,
];
for sty in solver_types {
changed = ui
@@ -122,11 +124,15 @@ pub fn update_ui(
if changed {
match state.solver_type {
RapierSolverType::SmallStepsPgs => {
integration_parameters.switch_to_small_steps_pgs_solver()
RapierSolverType::TgsSoft => {
*integration_parameters = IntegrationParameters::tgs_soft();
}
RapierSolverType::StandardPgs => {
integration_parameters.switch_to_standard_pgs_solver()
RapierSolverType::TgsSoftNoWarmstart => {
*integration_parameters =
IntegrationParameters::tgs_soft_without_warmstart();
}
RapierSolverType::PgsLegacy => {
*integration_parameters = IntegrationParameters::pgs_legacy();
}
}
}
@@ -146,17 +152,31 @@ pub fn update_ui(
ui.add(
Slider::new(
&mut integration_parameters.num_additional_friction_iterations,
1..=40,
0..=40,
)
.text("num additional frict. iters."),
);
ui.add(
Slider::new(
&mut integration_parameters.max_internal_stabilization_iterations,
&mut integration_parameters.num_internal_stabilization_iterations,
1..=100,
)
.text("max internal stabilization iters."),
);
ui.add(
Slider::new(&mut integration_parameters.warmstart_coefficient, 0.0..=1.0)
.text("warmstart coefficient"),
);
ui.add(Slider::new(&mut integration_parameters.erp, 0.0..=1.0).text("erp"));
ui.add(
Slider::new(&mut integration_parameters.damping_ratio, 0.0..=20.0)
.text("damping ratio"),
);
ui.add(Slider::new(&mut integration_parameters.joint_erp, 0.0..=1.0).text("joint erp"));
ui.add(
Slider::new(&mut integration_parameters.joint_damping_ratio, 0.0..=20.0)
.text("joint damping ratio"),
);
}
#[cfg(feature = "parallel")]