use crate::counters::Counters;
#[cfg(not(feature = "parallel"))]
use crate::dynamics::IslandSolver;
use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase,
};
use crate::math::Vector;
use crate::pipeline::EventHandler;
pub struct PhysicsPipeline {
pub counters: Counters,
manifold_indices: Vec<Vec<ContactManifoldIndex>>,
joint_constraint_indices: Vec<Vec<ContactManifoldIndex>>,
broadphase_collider_pairs: Vec<ColliderPair>,
broad_phase_events: Vec<BroadPhasePairEvent>,
solvers: Vec<IslandSolver>,
}
impl Default for PhysicsPipeline {
fn default() -> Self {
PhysicsPipeline::new()
}
}
#[allow(dead_code)]
fn check_pipeline_send_sync() {
fn do_test<T: Sync>() {}
do_test::<PhysicsPipeline>();
}
impl PhysicsPipeline {
pub fn new() -> PhysicsPipeline {
PhysicsPipeline {
counters: Counters::new(false),
solvers: Vec::new(),
manifold_indices: Vec::new(),
joint_constraint_indices: Vec::new(),
broadphase_collider_pairs: Vec::new(),
broad_phase_events: Vec::new(),
}
}
pub fn step(
&mut self,
gravity: &Vector<f32>,
integration_parameters: &IntegrationParameters,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
events: &dyn EventHandler,
) {
self.counters.step_started();
broad_phase.maintain(colliders);
narrow_phase.maintain(colliders, bodies);
bodies.maintain_active_set();
bodies.foreach_active_kinematic_body_mut_internal(|_, body| {
body.compute_velocity_from_predicted_position(integration_parameters.inv_dt());
});
self.counters.stages.collision_detection_time.start();
self.counters.cd.broad_phase_time.start();
self.broadphase_collider_pairs.clear();
broad_phase.update_aabbs(
integration_parameters.prediction_distance,
bodies,
colliders,
);
self.broad_phase_events.clear();
broad_phase.find_pairs(&mut self.broad_phase_events);
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
self.counters.cd.broad_phase_time.pause();
self.counters.cd.narrow_phase_time.start();
narrow_phase.compute_contacts(
integration_parameters.prediction_distance,
bodies,
colliders,
events,
);
narrow_phase.compute_proximities(
integration_parameters.prediction_distance,
bodies,
colliders,
events,
);
self.counters.stages.island_construction_time.start();
bodies.update_active_set_with_contacts(
colliders,
narrow_phase.contact_graph(),
joints.joint_graph(),
integration_parameters.min_island_size,
);
self.counters.stages.island_construction_time.pause();
if self.manifold_indices.len() < bodies.num_islands() {
self.manifold_indices
.resize(bodies.num_islands(), Vec::new());
}
if self.joint_constraint_indices.len() < bodies.num_islands() {
self.joint_constraint_indices
.resize(bodies.num_islands(), Vec::new());
}
let mut manifolds = Vec::new();
narrow_phase.sort_and_select_active_contacts(
bodies,
&mut manifolds,
&mut self.manifold_indices,
);
joints.select_active_interactions(bodies, &mut self.joint_constraint_indices);
self.counters.cd.narrow_phase_time.pause();
self.counters.stages.collision_detection_time.pause();
self.counters.stages.update_time.start();
bodies.foreach_active_dynamic_body_mut_internal(|_, b| {
b.update_world_mass_properties();
b.integrate_accelerations(integration_parameters.dt(), *gravity)
});
self.counters.stages.update_time.pause();
self.counters.solver.reset();
self.counters.stages.solver_time.start();
if self.solvers.len() < bodies.num_islands() {
self.solvers
.resize_with(bodies.num_islands(), || IslandSolver::new());
}
#[cfg(not(feature = "parallel"))]
{
enable_flush_to_zero!();
for island_id in 0..bodies.num_islands() {
self.solvers[island_id].solve_island(
island_id,
&mut self.counters,
integration_parameters,
bodies,
&mut manifolds[..],
&self.manifold_indices[island_id],
joints.joints_mut(),
&self.joint_constraint_indices[island_id],
)
}
}
#[cfg(feature = "parallel")]
{
use crate::geometry::ContactManifold;
use rayon::prelude::*;
use std::sync::atomic::Ordering;
let num_islands = bodies.num_islands();
let solvers = &mut self.solvers[..num_islands];
let bodies = &std::sync::atomic::AtomicPtr::new(bodies as *mut _);
let manifolds = &std::sync::atomic::AtomicPtr::new(&mut manifolds as *mut _);
let joints = &std::sync::atomic::AtomicPtr::new(joints.joints_vec_mut() as *mut _);
let manifold_indices = &self.manifold_indices[..];
let joint_constraint_indices = &self.joint_constraint_indices[..];
rayon::scope(|scope| {
enable_flush_to_zero!();
solvers
.par_iter_mut()
.enumerate()
.for_each(|(island_id, solver)| {
let bodies: &mut RigidBodySet =
unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) };
let manifolds: &mut Vec<&mut ContactManifold> =
unsafe { std::mem::transmute(manifolds.load(Ordering::Relaxed)) };
let joints: &mut Vec<JointGraphEdge> =
unsafe { std::mem::transmute(joints.load(Ordering::Relaxed)) };
solver.solve_island(
scope,
island_id,
integration_parameters,
bodies,
manifolds,
&manifold_indices[island_id],
joints,
&joint_constraint_indices[island_id],
)
});
});
}
bodies.foreach_active_body_mut_internal(|_, rb| {
if rb.is_kinematic() {
rb.position = rb.predicted_position;
rb.linvel = na::zero();
rb.angvel = na::zero();
} else {
rb.update_predicted_position(integration_parameters.dt());
}
for handle in &rb.colliders {
let collider = &mut colliders[*handle];
collider.position = rb.position * collider.delta;
collider.predicted_position = rb.predicted_position * collider.delta;
}
});
self.counters.stages.solver_time.pause();
bodies.modified_inactive_set.clear();
self.counters.step_completed();
}
}
#[cfg(test)]
mod test {
use crate::dynamics::{IntegrationParameters, JointSet, RigidBodyBuilder, RigidBodySet};
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
use crate::math::Vector;
use crate::pipeline::PhysicsPipeline;
#[test]
fn kinematic_and_static_contact_crash() {
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhase::new();
let mut nf = NarrowPhase::new();
let mut bodies = RigidBodySet::new();
let rb = RigidBodyBuilder::new_static().build();
let h1 = bodies.insert(rb.clone());
let co = ColliderBuilder::ball(10.0).build();
colliders.insert(co.clone(), h1, &mut bodies);
let rb = RigidBodyBuilder::new_kinematic().build();
let h2 = bodies.insert(rb.clone());
colliders.insert(co, h2, &mut bodies);
pipeline.step(
&Vector::zeros(),
&IntegrationParameters::default(),
&mut bf,
&mut nf,
&mut bodies,
&mut colliders,
&mut joints,
&(),
);
}
#[test]
fn rigid_body_removal_before_step() {
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut pipeline = PhysicsPipeline::new();
let mut bf = BroadPhase::new();
let mut nf = NarrowPhase::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 rb = RigidBodyBuilder::new_kinematic().build();
let h3 = bodies.insert(rb.clone());
let rb = RigidBodyBuilder::new_static().build();
let h4 = bodies.insert(rb.clone());
let to_delete = [h1, h2, h3, h4];
for h in &to_delete {
bodies.remove(*h, &mut colliders, &mut joints);
}
pipeline.step(
&Vector::zeros(),
&IntegrationParameters::default(),
&mut bf,
&mut nf,
&mut bodies,
&mut colliders,
&mut joints,
&(),
);
}
#[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);
}
}