Modify the policy to drop contact manifolds. First drop the old ones before the new ones
This commit is contained in:
parent
17d1ee3681
commit
d5617526ff
|
@ -71,7 +71,7 @@ void CollisionDetection::computeCollisionDetection() {
|
|||
computeMiddlePhase();
|
||||
|
||||
// Compute the narrow-phase collision detection
|
||||
computeNarrowPhase();
|
||||
computeNarrowPhase();
|
||||
|
||||
// Reset the linked list of narrow-phase info
|
||||
mNarrowPhaseInfoList = nullptr;
|
||||
|
@ -410,6 +410,9 @@ void CollisionDetection::processPotentialContacts(OverlappingPair* pair) {
|
|||
potentialManifold = potentialManifold->mNext;
|
||||
}
|
||||
|
||||
// Reset the isNew status of the manifolds
|
||||
pair->resetIsNewManifoldStatus();
|
||||
|
||||
// Clear the obsolete contact manifolds and contact points
|
||||
pair->clearObsoleteManifoldsAndContactPoints();
|
||||
|
||||
|
|
|
@ -34,7 +34,7 @@ ContactManifold::ContactManifold(const ContactManifoldInfo* manifoldInfo, ProxyS
|
|||
: mShape1(shape1), mShape2(shape2), mContactPoints(nullptr), mContactNormalId(manifoldInfo->getContactNormalId()),
|
||||
mNbContactPoints(0), mFrictionImpulse1(0.0), mFrictionImpulse2(0.0),
|
||||
mFrictionTwistImpulse(0.0), mIsAlreadyInIsland(false),
|
||||
mMemoryAllocator(memoryAllocator), mNext(nullptr), mPrevious(nullptr), mIsObsolete(false) {
|
||||
mMemoryAllocator(memoryAllocator), mNext(nullptr), mPrevious(nullptr), mIsObsolete(false), mIsNew(true) {
|
||||
|
||||
// For each contact point info in the manifold
|
||||
const ContactPointInfo* pointInfo = manifoldInfo->getFirstContactPointInfo();
|
||||
|
@ -85,6 +85,7 @@ void ContactManifold::addContactPoint(const ContactPointInfo* contactPointInfo)
|
|||
mContactPoints = contactPoint;
|
||||
|
||||
mNbContactPoints++;
|
||||
assert(mNbContactPoints <= MAX_CONTACT_POINTS_IN_MANIFOLD);
|
||||
}
|
||||
|
||||
// Clear the obsolete contact points
|
||||
|
|
|
@ -143,6 +143,9 @@ class ContactManifold {
|
|||
/// True if the contact manifold is obsolete
|
||||
bool mIsObsolete;
|
||||
|
||||
/// True if the contact manifold is new (has just been added from potential contacts)
|
||||
bool mIsNew;
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Return true if the contact manifold has already been added into an island
|
||||
|
@ -204,6 +207,12 @@ class ContactManifold {
|
|||
|
||||
/// Return the friction twist accumulated impulse
|
||||
decimal getFrictionTwistImpulse() const;
|
||||
|
||||
/// Return true if the manifold has just been created
|
||||
bool getIsNew() const;
|
||||
|
||||
/// Set the isNew attribute
|
||||
void setIsNew(bool isNew);
|
||||
|
||||
public:
|
||||
|
||||
|
@ -408,6 +417,18 @@ inline short ContactManifold::getContactNormalId() const {
|
|||
return mContactNormalId;
|
||||
}
|
||||
|
||||
|
||||
// Return true if the manifold has just been created
|
||||
inline bool ContactManifold::getIsNew() const {
|
||||
return mIsNew;
|
||||
}
|
||||
|
||||
// Set the isNew attribute
|
||||
inline void ContactManifold::setIsNew(bool isNew) {
|
||||
mIsNew = isNew;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
@ -66,8 +66,9 @@ void ContactManifoldSet::addContactManifold(const ContactManifoldInfo* contactMa
|
|||
if (mNbManifolds >= mNbMaxManifolds) {
|
||||
|
||||
// We need to remove a manifold from the set.
|
||||
// We seach for the one with the smallest maximum penetration depth among its contact points
|
||||
ContactManifold* minDepthManifold = getManifoldWithSmallestContactPenetrationDepth(contactManifoldInfo->getLargestPenetrationDepth());
|
||||
// We search for an old manifold with the smallest maximum penetration depth among its contact points.
|
||||
// If we do not find an old manifold, we select a new one that has the smallest contact penetration depth.
|
||||
ContactManifold* minDepthManifold = selectManifoldToRemove(contactManifoldInfo->getLargestPenetrationDepth());
|
||||
|
||||
// If the manifold with the minimum penetration depth is an existing one
|
||||
if (minDepthManifold != nullptr) {
|
||||
|
@ -135,25 +136,53 @@ void ContactManifoldSet::updateManifoldWithNewOne(ContactManifold* oldManifold,
|
|||
oldManifold->setIsObsolete(false, false);
|
||||
}
|
||||
|
||||
// Return the manifold with the smallest contact penetration depth among its points
|
||||
ContactManifold* ContactManifoldSet::getManifoldWithSmallestContactPenetrationDepth(decimal initDepth) const {
|
||||
// Return the manifold to remove (because it is too old or has not the largest penetration depth)
|
||||
ContactManifold* ContactManifoldSet::selectManifoldToRemove(decimal penDepthNewManifold) const {
|
||||
|
||||
assert(mNbManifolds == mNbMaxManifolds);
|
||||
assert(mManifolds != nullptr);
|
||||
|
||||
ContactManifold* minDepthManifold = nullptr;
|
||||
decimal minDepth = initDepth;
|
||||
// Look for a manifold that is not new and with the smallest contact penetration depth.
|
||||
// At the same time, we also look for a new manifold with the smallest contact penetration depth
|
||||
// in case no old manifold exists.
|
||||
ContactManifold* minDepthOldManifold = nullptr;
|
||||
ContactManifold* minDepthNewManifold = nullptr;
|
||||
decimal minDepthOld = DECIMAL_LARGEST;
|
||||
decimal minDepthNew = penDepthNewManifold;
|
||||
ContactManifold* manifold = mManifolds;
|
||||
while (manifold != nullptr) {
|
||||
decimal depth = manifold->getLargestContactDepth();
|
||||
if (depth < minDepth) {
|
||||
minDepth = depth;
|
||||
minDepthManifold = manifold;
|
||||
|
||||
// Get the largest contact point penetration depth of the manifold
|
||||
const decimal depth = manifold->getLargestContactDepth();
|
||||
|
||||
// If it is a new manifold
|
||||
if (manifold->getIsNew()) {
|
||||
|
||||
if (depth < minDepthNew) {
|
||||
minDepthNew = depth;
|
||||
minDepthNewManifold = manifold;
|
||||
}
|
||||
}
|
||||
else {
|
||||
|
||||
if (depth < minDepthOld) {
|
||||
minDepthOld = depth;
|
||||
minDepthOldManifold = manifold;
|
||||
}
|
||||
}
|
||||
|
||||
manifold = manifold->getNext();
|
||||
}
|
||||
|
||||
return minDepthManifold;
|
||||
// If there was a contact manifold that was not new
|
||||
if (minDepthOldManifold != nullptr) {
|
||||
|
||||
// Return the old manifold with the smallest penetration depth
|
||||
return minDepthOldManifold;
|
||||
}
|
||||
|
||||
// Otherwise, we return the new manifold with the smallest penetration depth
|
||||
return minDepthNewManifold;
|
||||
}
|
||||
|
||||
// Return the contact manifold with a similar average normal.
|
||||
|
|
|
@ -74,8 +74,8 @@ class ContactManifoldSet {
|
|||
// Return the contact manifold with a similar average normal.
|
||||
ContactManifold* selectManifoldWithSimilarNormal(short int normalDirectionId) const;
|
||||
|
||||
/// Return the manifold with the smallest contact penetration depth
|
||||
ContactManifold* getManifoldWithSmallestContactPenetrationDepth(decimal initDepth) const;
|
||||
/// Return the manifold to remove (because it is too old or has not the largest penetration depth)
|
||||
ContactManifold* selectManifoldToRemove(decimal penDepthNewManifold) const;
|
||||
|
||||
/// Update a previous similar manifold with a new one
|
||||
void updateManifoldWithNewOne(ContactManifold* oldManifold, const ContactManifoldInfo* newManifold);
|
||||
|
@ -124,6 +124,9 @@ class ContactManifoldSet {
|
|||
/// Clear the obsolete contact manifolds and contact points
|
||||
void clearObsoleteManifoldsAndContactPoints();
|
||||
|
||||
/// Reset the isNew status of all the manifolds
|
||||
void resetIsNewManifoldStatus();
|
||||
|
||||
// Map the normal vector into a cubemap face bucket (a face contains 4x4 buckets)
|
||||
// Each face of the cube is divided into 4x4 buckets. This method maps the
|
||||
// normal vector into of the of the bucket and returns a unique Id for the bucket
|
||||
|
@ -177,6 +180,17 @@ inline int ContactManifoldSet::computeNbMaxContactManifolds(const CollisionShape
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
// Reset the isNew status of all the manifolds
|
||||
inline void ContactManifoldSet::resetIsNewManifoldStatus() {
|
||||
|
||||
ContactManifold* manifold = mManifolds;
|
||||
while (manifold != nullptr) {
|
||||
manifold->setIsNew(false);
|
||||
manifold = manifold->getNext();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
@ -172,6 +172,9 @@ class OverlappingPair {
|
|||
/// Clear the obsolete contact manifold and contact points
|
||||
void clearObsoleteManifoldsAndContactPoints();
|
||||
|
||||
/// Reset the isNew status of all the manifolds
|
||||
void resetIsNewManifoldStatus();
|
||||
|
||||
/// Return the pair of bodies index
|
||||
static overlappingpairid computeID(ProxyShape* shape1, ProxyShape* shape2);
|
||||
|
||||
|
@ -269,6 +272,12 @@ inline void OverlappingPair::clearObsoleteManifoldsAndContactPoints() {
|
|||
mContactManifoldSet.clearObsoleteManifoldsAndContactPoints();
|
||||
}
|
||||
|
||||
|
||||
// Reset the isNew status of all the manifolds
|
||||
inline void OverlappingPair::resetIsNewManifoldStatus() {
|
||||
mContactManifoldSet.resetIsNewManifoldStatus();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
Loading…
Reference in New Issue
Block a user