560 lines
20 KiB
Rust
560 lines
20 KiB
Rust
//! Physics pipeline structures.
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use crate::counters::Counters;
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#[cfg(not(feature = "parallel"))]
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use crate::dynamics::IslandSolver;
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use crate::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
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#[cfg(feature = "parallel")]
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use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
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use crate::geometry::{
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BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase,
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};
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use crate::math::{Real, Vector};
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use crate::pipeline::{EventHandler, PhysicsHooks};
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/// The physics pipeline, responsible for stepping the whole physics simulation.
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///
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/// This structure only contains temporary data buffers. It can be dropped and replaced by a fresh
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/// copy at any time. For performance reasons it is recommended to reuse the same physics pipeline
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/// instance to benefit from the cached data.
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///
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/// Rapier relies on a time-stepping scheme. Its force computations
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/// uses two solvers:
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/// - A velocity based solver based on PGS which computes forces for contact and joint constraints.
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/// - A position based solver based on non-linear PGS which performs constraint stabilization (i.e. correction of errors like penetrations).
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// NOTE: this contains only workspace data, so there is no point in making this serializable.
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pub struct PhysicsPipeline {
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/// Counters used for benchmarking only.
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pub counters: Counters,
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manifold_indices: Vec<Vec<ContactManifoldIndex>>,
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joint_constraint_indices: Vec<Vec<ContactManifoldIndex>>,
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broadphase_collider_pairs: Vec<ColliderPair>,
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broad_phase_events: Vec<BroadPhasePairEvent>,
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solvers: Vec<IslandSolver>,
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}
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impl Default for PhysicsPipeline {
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fn default() -> Self {
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PhysicsPipeline::new()
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}
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}
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#[allow(dead_code)]
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fn check_pipeline_send_sync() {
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fn do_test<T: Sync>() {}
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do_test::<PhysicsPipeline>();
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}
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impl PhysicsPipeline {
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/// Initializes a new physics pipeline.
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pub fn new() -> PhysicsPipeline {
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PhysicsPipeline {
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counters: Counters::new(false),
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solvers: Vec::new(),
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manifold_indices: Vec::new(),
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joint_constraint_indices: Vec::new(),
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broadphase_collider_pairs: Vec::new(),
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broad_phase_events: Vec::new(),
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}
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}
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fn detect_collisions(
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&mut self,
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integration_parameters: &IntegrationParameters,
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broad_phase: &mut BroadPhase,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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hooks: &dyn PhysicsHooks,
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events: &dyn EventHandler,
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handle_user_changes: bool,
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) {
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self.counters.stages.collision_detection_time.resume();
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self.counters.cd.broad_phase_time.resume();
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// Update broad-phase.
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self.broad_phase_events.clear();
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self.broadphase_collider_pairs.clear();
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broad_phase.update(
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integration_parameters.prediction_distance,
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colliders,
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&mut self.broad_phase_events,
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);
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self.counters.cd.broad_phase_time.pause();
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self.counters.cd.narrow_phase_time.resume();
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// Update narrow-phase.
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if handle_user_changes {
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narrow_phase.handle_user_changes(colliders, bodies, events);
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}
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narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
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narrow_phase.compute_contacts(
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integration_parameters.prediction_distance,
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bodies,
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colliders,
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hooks,
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events,
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);
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narrow_phase.compute_intersections(bodies, colliders, hooks, events);
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// Clear colliders modification flags.
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colliders.clear_modified_colliders();
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self.counters.cd.narrow_phase_time.pause();
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self.counters.stages.collision_detection_time.pause();
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}
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fn solve_position_constraints(
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&mut self,
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integration_parameters: &IntegrationParameters,
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bodies: &mut RigidBodySet,
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) {
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#[cfg(not(feature = "parallel"))]
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{
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enable_flush_to_zero!();
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for island_id in 0..bodies.num_islands() {
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self.solvers[island_id].solve_position_constraints(
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island_id,
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&mut self.counters,
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integration_parameters,
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bodies,
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)
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}
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}
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}
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fn build_islands_and_solve_velocity_constraints(
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&mut self,
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gravity: &Vector<Real>,
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integration_parameters: &IntegrationParameters,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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joints: &mut JointSet,
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) {
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self.counters.stages.island_construction_time.resume();
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bodies.update_active_set_with_contacts(
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colliders,
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narrow_phase,
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joints.joint_graph(),
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integration_parameters.min_island_size,
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);
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self.counters.stages.island_construction_time.pause();
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if self.manifold_indices.len() < bodies.num_islands() {
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self.manifold_indices
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.resize(bodies.num_islands(), Vec::new());
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}
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if self.joint_constraint_indices.len() < bodies.num_islands() {
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self.joint_constraint_indices
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.resize(bodies.num_islands(), Vec::new());
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}
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let mut manifolds = Vec::new();
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narrow_phase.select_active_contacts(bodies, &mut manifolds, &mut self.manifold_indices);
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joints.select_active_interactions(bodies, &mut self.joint_constraint_indices);
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self.counters.stages.update_time.resume();
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bodies.foreach_active_dynamic_body_mut_internal(|_, b| {
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b.update_world_mass_properties();
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b.add_gravity(*gravity)
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});
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self.counters.stages.update_time.pause();
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self.counters.stages.solver_time.resume();
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if self.solvers.len() < bodies.num_islands() {
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self.solvers
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.resize_with(bodies.num_islands(), IslandSolver::new);
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}
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#[cfg(not(feature = "parallel"))]
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{
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enable_flush_to_zero!();
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for island_id in 0..bodies.num_islands() {
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self.solvers[island_id].init_constraints_and_solve_velocity_constraints(
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island_id,
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&mut self.counters,
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integration_parameters,
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bodies,
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&mut manifolds[..],
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&self.manifold_indices[island_id],
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joints.joints_mut(),
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&self.joint_constraint_indices[island_id],
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)
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}
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}
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#[cfg(feature = "parallel")]
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{
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use crate::geometry::ContactManifold;
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use rayon::prelude::*;
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use std::sync::atomic::Ordering;
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let num_islands = bodies.num_islands();
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let solvers = &mut self.solvers[..num_islands];
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let bodies = &std::sync::atomic::AtomicPtr::new(bodies as *mut _);
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let manifolds = &std::sync::atomic::AtomicPtr::new(&mut manifolds as *mut _);
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let joints = &std::sync::atomic::AtomicPtr::new(joints.joints_vec_mut() as *mut _);
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let manifold_indices = &self.manifold_indices[..];
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let joint_constraint_indices = &self.joint_constraint_indices[..];
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rayon::scope(|scope| {
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enable_flush_to_zero!();
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solvers
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.par_iter_mut()
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.enumerate()
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.for_each(|(island_id, solver)| {
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let bodies: &mut RigidBodySet =
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unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) };
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let manifolds: &mut Vec<&mut ContactManifold> =
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unsafe { std::mem::transmute(manifolds.load(Ordering::Relaxed)) };
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let joints: &mut Vec<JointGraphEdge> =
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unsafe { std::mem::transmute(joints.load(Ordering::Relaxed)) };
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solver.solve_island(
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scope,
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island_id,
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integration_parameters,
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bodies,
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manifolds,
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&manifold_indices[island_id],
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joints,
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&joint_constraint_indices[island_id],
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is_last_substep,
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)
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});
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});
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}
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self.counters.stages.solver_time.pause();
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}
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fn run_ccd_motion_clamping(
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&mut self,
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integration_parameters: &IntegrationParameters,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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narrow_phase: &NarrowPhase,
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ccd_solver: &mut CCDSolver,
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events: &dyn EventHandler,
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) {
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self.counters.ccd.toi_computation_time.start();
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// Handle CCD
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let impacts = ccd_solver.predict_impacts_at_next_positions(
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integration_parameters.dt,
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bodies,
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colliders,
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narrow_phase,
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events,
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);
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ccd_solver.clamp_motions(integration_parameters.dt, bodies, &impacts);
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self.counters.ccd.toi_computation_time.pause();
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}
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fn advance_to_final_positions(
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&mut self,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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clear_forces: bool,
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) {
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// Set the rigid-bodies and kinematic bodies to their final position.
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bodies.foreach_active_body_mut_internal(|_, rb| {
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if rb.is_kinematic() {
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rb.linvel = na::zero();
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rb.angvel = na::zero();
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}
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if clear_forces {
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rb.force = na::zero();
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rb.torque = na::zero();
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}
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rb.position = rb.next_position;
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rb.update_colliders_positions(colliders);
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});
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}
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fn interpolate_kinematic_velocities(
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&mut self,
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integration_parameters: &IntegrationParameters,
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bodies: &mut RigidBodySet,
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) {
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// Update kinematic bodies velocities.
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// TODO: what is the best place for this? It should at least be
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// located before the island computation because we test the velocity
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// there to determine if this kinematic body should wake-up dynamic
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// bodies it is touching.
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bodies.foreach_active_kinematic_body_mut_internal(|_, body| {
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body.compute_velocity_from_next_position(integration_parameters.inv_dt());
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});
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}
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/// Executes one timestep of the physics simulation.
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pub fn step(
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&mut self,
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gravity: &Vector<Real>,
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integration_parameters: &IntegrationParameters,
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broad_phase: &mut BroadPhase,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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joints: &mut JointSet,
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ccd_solver: &mut CCDSolver,
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hooks: &dyn PhysicsHooks,
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events: &dyn EventHandler,
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) {
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self.counters.reset();
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self.counters.step_started();
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colliders.handle_user_changes(bodies);
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bodies.handle_user_changes(colliders);
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self.detect_collisions(
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integration_parameters,
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broad_phase,
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narrow_phase,
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bodies,
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colliders,
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hooks,
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events,
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true,
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);
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let mut remaining_time = integration_parameters.dt;
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let mut integration_parameters = *integration_parameters;
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let (ccd_is_enabled, mut remaining_substeps) =
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if integration_parameters.max_ccd_substeps == 0 {
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(false, 1)
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} else {
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(true, integration_parameters.max_ccd_substeps)
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};
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while remaining_substeps > 0 {
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// If there are more than one CCD substep, we need to split
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// the timestep into multiple intervals. First, estimate the
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// size of the time slice we will integrate for this substep.
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//
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// Note that we must do this now, before the constrains resolution
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// because we need to use the correct timestep length for the
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// integration of external forces.
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//
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// If there is only one or zero CCD substep, there is no need
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// to split the timetsep interval. So we can just skip this part.
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if ccd_is_enabled && remaining_substeps > 1 {
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// NOTE: Take forces into account when updating the bodies CCD activation flags
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// these forces have not been integrated to the body's velocity yet.
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let ccd_active = ccd_solver.update_ccd_active_flags(bodies, remaining_time, true);
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let first_impact = if ccd_active {
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ccd_solver.find_first_impact(remaining_time, bodies, colliders, narrow_phase)
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} else {
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None
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};
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if let Some(toi) = first_impact {
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let original_interval = remaining_time / (remaining_substeps as Real);
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if toi < original_interval {
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integration_parameters.dt = original_interval;
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} else {
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integration_parameters.dt =
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toi + (remaining_time - toi) / (remaining_substeps as Real);
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}
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remaining_substeps -= 1;
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} else {
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// No impact, don't do any other substep after this one.
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integration_parameters.dt = remaining_time;
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remaining_substeps = 0;
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}
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remaining_time -= integration_parameters.dt;
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// Avoid substep length that are too small.
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if remaining_time <= integration_parameters.min_ccd_dt {
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integration_parameters.dt += remaining_time;
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remaining_substeps = 0;
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}
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} else {
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integration_parameters.dt = remaining_time;
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remaining_time = 0.0;
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remaining_substeps = 0;
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}
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self.counters.ccd.num_substeps += 1;
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self.interpolate_kinematic_velocities(&integration_parameters, bodies);
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self.build_islands_and_solve_velocity_constraints(
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gravity,
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&integration_parameters,
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narrow_phase,
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bodies,
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colliders,
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joints,
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);
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// If CCD is enabled, execute the CCD motion clamping.
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if ccd_is_enabled {
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// NOTE: don't the forces into account when updating the CCD active flags because
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// they have already been integrated into the velocities by the solver.
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let ccd_active =
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ccd_solver.update_ccd_active_flags(bodies, integration_parameters.dt, false);
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if ccd_active {
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self.run_ccd_motion_clamping(
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&integration_parameters,
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bodies,
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colliders,
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narrow_phase,
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ccd_solver,
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events,
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);
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}
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}
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// NOTE: we need to run the position solver **after** the
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// CCD motion clamping because otherwise the clamping
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// would undo the depenetration done by the position
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// solver.
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// This happens because our CCD use the real rigid-body
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// velocities instead of just interpolating between
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// isometries.
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self.solve_position_constraints(&integration_parameters, bodies);
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let clear_forces = remaining_substeps == 0;
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self.advance_to_final_positions(bodies, colliders, clear_forces);
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self.detect_collisions(
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&integration_parameters,
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broad_phase,
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narrow_phase,
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bodies,
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colliders,
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hooks,
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events,
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false,
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);
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bodies.modified_inactive_set.clear();
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}
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self.counters.step_completed();
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}
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}
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#[cfg(test)]
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mod test {
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use crate::dynamics::{IntegrationParameters, JointSet, RigidBodyBuilder, RigidBodySet};
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use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
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use crate::math::Vector;
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use crate::pipeline::PhysicsPipeline;
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#[test]
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fn kinematic_and_static_contact_crash() {
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let mut colliders = ColliderSet::new();
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let mut joints = JointSet::new();
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let mut pipeline = PhysicsPipeline::new();
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let mut bf = BroadPhase::new();
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let mut nf = NarrowPhase::new();
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let mut bodies = RigidBodySet::new();
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let rb = RigidBodyBuilder::new_static().build();
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let h1 = bodies.insert(rb.clone());
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let co = ColliderBuilder::ball(10.0).build();
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colliders.insert(co.clone(), h1, &mut bodies);
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// The same but with a kinematic body.
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let rb = RigidBodyBuilder::new_kinematic().build();
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let h2 = bodies.insert(rb.clone());
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colliders.insert(co, h2, &mut bodies);
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pipeline.step(
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&Vector::zeros(),
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&IntegrationParameters::default(),
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&mut bf,
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&mut nf,
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&mut bodies,
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&mut colliders,
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&mut joints,
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&(),
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&(),
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);
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}
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#[test]
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fn rigid_body_removal_before_step() {
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let mut colliders = ColliderSet::new();
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let mut joints = JointSet::new();
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let mut pipeline = PhysicsPipeline::new();
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let mut bf = BroadPhase::new();
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let mut nf = NarrowPhase::new();
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let mut bodies = RigidBodySet::new();
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// Check that removing the body right after inserting it works.
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// We add two dynamic bodies, one kinematic body and one static body before removing
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// them. This include a non-regression test where deleting a kimenatic body crashes.
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let rb = RigidBodyBuilder::new_dynamic().build();
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let h1 = bodies.insert(rb.clone());
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let h2 = bodies.insert(rb.clone());
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// The same but with a kinematic body.
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let rb = RigidBodyBuilder::new_kinematic().build();
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let h3 = bodies.insert(rb.clone());
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// The same but with a static body.
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let rb = RigidBodyBuilder::new_static().build();
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let h4 = bodies.insert(rb.clone());
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let to_delete = [h1, h2, h3, h4];
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for h in &to_delete {
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bodies.remove(*h, &mut colliders, &mut joints);
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}
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pipeline.step(
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&Vector::zeros(),
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&IntegrationParameters::default(),
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&mut bf,
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&mut nf,
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&mut bodies,
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&mut colliders,
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&mut joints,
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&(),
|
|
&(),
|
|
);
|
|
}
|
|
|
|
#[cfg(feature = "serde")]
|
|
#[test]
|
|
fn rigid_body_removal_snapshot_handle_determinism() {
|
|
let mut colliders = ColliderSet::new();
|
|
let mut joints = JointSet::new();
|
|
|
|
let mut bodies = RigidBodySet::new();
|
|
let rb = RigidBodyBuilder::new_dynamic().build();
|
|
let h1 = bodies.insert(rb.clone());
|
|
let h2 = bodies.insert(rb.clone());
|
|
let h3 = bodies.insert(rb.clone());
|
|
|
|
bodies.remove(h1, &mut colliders, &mut joints);
|
|
bodies.remove(h3, &mut colliders, &mut joints);
|
|
bodies.remove(h2, &mut colliders, &mut joints);
|
|
|
|
let ser_bodies = bincode::serialize(&bodies).unwrap();
|
|
let mut bodies2: RigidBodySet = bincode::deserialize(&ser_bodies).unwrap();
|
|
|
|
let h1a = bodies.insert(rb.clone());
|
|
let h2a = bodies.insert(rb.clone());
|
|
let h3a = bodies.insert(rb.clone());
|
|
|
|
let h1b = bodies2.insert(rb.clone());
|
|
let h2b = bodies2.insert(rb.clone());
|
|
let h3b = bodies2.insert(rb.clone());
|
|
|
|
assert_eq!(h1a, h1b);
|
|
assert_eq!(h2a, h2b);
|
|
assert_eq!(h3a, h3b);
|
|
}
|
|
}
|