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migrated to rapier 0.20
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@mrDIMAS
mrDIMAS committed Jun 16, 2024
1 parent 3a729ed commit f3990d5
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Showing 3 changed files with 47 additions and 43 deletions.
4 changes: 2 additions & 2 deletions fyrox-impl/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,8 @@ fyrox-ui = { path = "../fyrox-ui", version = "0.25.1" }
fyrox-resource = { path = "../fyrox-resource", version = "0.12.0" }
fyrox-animation = { path = "../fyrox-animation", version = "0.2.0" }
fyrox-graph = { path = "../fyrox-graph", version = "0.1.0" }
rapier2d = { version = "0.19", features = ["debug-render"] }
rapier3d = { version = "0.19", features = ["debug-render"] }
rapier2d = { version = "0.20", features = ["debug-render"] }
rapier3d = { version = "0.20", features = ["debug-render"] }
image = { version = "0.24.8", default-features = false, features = ["gif", "jpeg", "png", "tga", "tiff", "bmp"] }
inflate = "0.4.5"
serde = { version = "1", features = ["derive"] }
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14 changes: 7 additions & 7 deletions fyrox-impl/src/scene/dim2/physics.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -294,7 +294,7 @@ fn convert_joint_params(
scene::dim2::joint::JointParams::FixedJoint(_) => {}
scene::dim2::joint::JointParams::PrismaticJoint(v) => {
if v.limits_enabled {
joint.set_limits(JointAxis::X, [v.limits.start, v.limits.end]);
joint.set_limits(JointAxis::LinX, [v.limits.start, v.limits.end]);
}
}
}
Expand Down Expand Up @@ -516,16 +516,16 @@ impl PhysicsWorld {
let integration_parameters = rapier2d::dynamics::IntegrationParameters {
dt: self.integration_parameters.dt.unwrap_or(dt),
min_ccd_dt: self.integration_parameters.min_ccd_dt,
erp: self.integration_parameters.erp,
damping_ratio: self.integration_parameters.damping_ratio,
joint_erp: self.integration_parameters.joint_erp,
contact_damping_ratio: self.integration_parameters.contact_damping_ratio,
contact_natural_frequency: self.integration_parameters.contact_natural_frequency,
joint_natural_frequency: self.integration_parameters.joint_natural_frequency,
joint_damping_ratio: self.integration_parameters.joint_damping_ratio,
warmstart_coefficient: self.integration_parameters.warmstart_coefficient,
length_unit: self.integration_parameters.length_unit,
normalized_allowed_linear_error: self.integration_parameters.allowed_linear_error,
normalized_max_penetration_correction: self
normalized_max_corrective_velocity: self
.integration_parameters
.max_penetration_correction,
.normalized_max_corrective_velocity,
normalized_prediction_distance: self.integration_parameters.prediction_distance,
num_solver_iterations: NonZeroUsize::new(
self.integration_parameters.num_solver_iterations,
Expand Down Expand Up @@ -641,7 +641,7 @@ impl PhysicsWorld {
// likely end up in panic because of invalid handle stored in internal acceleration
// structure. This could be fixed by delaying deleting of bodies/collider to the end
// of the frame.
query.update(&self.bodies, &self.colliders);
query.update(&self.colliders);

query_buffer.clear();
let ray = Ray::new(
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72 changes: 38 additions & 34 deletions fyrox-impl/src/scene/graph/physics.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -431,7 +431,7 @@ fn convert_joint_params(
scene::joint::JointParams::FixedJoint(_) => {}
scene::joint::JointParams::PrismaticJoint(v) => {
if v.limits_enabled {
joint.set_limits(JointAxis::X, [v.limits.start, v.limits.end]);
joint.set_limits(JointAxis::LinX, [v.limits.start, v.limits.end]);
}
}
scene::joint::JointParams::RevoluteJoint(v) => {
Expand Down Expand Up @@ -751,37 +751,41 @@ pub struct IntegrationParameters {
)]
pub min_ccd_dt: f32,

/// The Error Reduction Parameter in `[0, 1]` is the proportion of the positional error to be
/// corrected at each time step (default: `0.8`).
/// The damping ratio used by the springs for contact constraint stabilization.
/// Larger values make the constraints more compliant (allowing more visible penetrations
/// before stabilization). Default `5.0`.
#[reflect(
min_value = 0.0,
max_value = 1.0,
description = "The Error Reduction Parameter in `[0, 1]` is the proportion of the \
positional error to be corrected at each time step (default: `0.8`)"
description = "The damping ratio used by the springs for contact constraint stabilization.
Larger values make the constraints more compliant (allowing more visible penetrations
before stabilization). Default `5.0`."
)]
pub erp: f32,
pub contact_damping_ratio: f32,

/// 0-1: the damping ratio used by the springs.
/// Lower values make the constraints more compliant (more "springy", allowing more visible penetrations
/// before stabilization).
/// (default `0.25`).
/// The natural frequency used by the springs for contact constraint regularization.
/// Increasing this value will make it so that penetrations get fixed more quickly at the
/// expense of potential jitter effects due to overshooting. In order to make the simulation
/// look stiffer, it is recommended to increase the `contact_damping_ratio` instead of this
/// value. Default: `30.0`
#[reflect(
min_value = 0.0,
max_value = 1.0,
description = "The damping ratio used by the springs in `[0, 1]` Lower values make the constraints more \
compliant (more springy, allowing more visible penetrations before stabilization). Default `0.25`"
description = "The natural frequency used by the springs for contact constraint regularization.
Increasing this value will make it so that penetrations get fixed more quickly at the
expense of potential jitter effects due to overshooting. In order to make the simulation
look stiffer, it is recommended to increase the `contact_damping_ratio` instead of this
value. Default: `30.0`"
)]
pub damping_ratio: f32,
pub contact_natural_frequency: f32,

/// The Error Reduction Parameter for joints in `[0, 1]` is the proportion of the positional
/// error to be corrected at each time step (default: `0.8`).
/// The natural frequency used by the springs for joint constraint regularization.
/// Increasing this value will make it so that penetrations get fixed more quickly.
/// Default: `1.0e6`
#[reflect(
min_value = 0.0,
max_value = 1.0,
description = "The Error Reduction Parameter for joints in `[0, 1]` is the proportion \
of the positional error to be corrected at each time step (default: `0.8`)."
description = "The natural frequency used by the springs for joint constraint regularization.
Increasing this value will make it so that penetrations get fixed more quickly. Default: `1.0e6`."
)]
pub joint_erp: f32,
pub joint_natural_frequency: f32,

/// The fraction of critical damping applied to the joint for constraints regularization.
/// (default `0.8`).
Expand All @@ -799,12 +803,12 @@ pub struct IntegrationParameters {
)]
pub allowed_linear_error: f32,

/// Maximum amount of penetration the solver will attempt to resolve in one timestep.
/// Maximum amount of penetration the solver will attempt to resolve in one timestep (default: `10.0`).
#[reflect(
min_value = 0.0,
description = "Maximum amount of penetration the solver will attempt to resolve in one timestep."
description = "Maximum amount of penetration the solver will attempt to resolve in one timestep (default: `10.0`)."
)]
pub max_penetration_correction: f32,
pub normalized_max_corrective_velocity: f32,

/// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`).
#[reflect(
Expand Down Expand Up @@ -880,13 +884,13 @@ impl Default for IntegrationParameters {
Self {
dt: None,
min_ccd_dt: 1.0 / 60.0 / 100.0,
erp: 0.01,
damping_ratio: 20.0,
joint_erp: 0.9,
contact_damping_ratio: 5.0,
contact_natural_frequency: 30.0,
joint_natural_frequency: 1.0e6,
joint_damping_ratio: 1.0,
warmstart_coefficient: 1.0,
allowed_linear_error: 0.002,
max_penetration_correction: f32::MAX,
normalized_max_corrective_velocity: 10.0,
prediction_distance: 0.002,
num_internal_pgs_iterations: 1,
num_additional_friction_iterations: 4,
Expand Down Expand Up @@ -1075,16 +1079,16 @@ impl PhysicsWorld {
let integration_parameters = rapier3d::dynamics::IntegrationParameters {
dt: self.integration_parameters.dt.unwrap_or(dt),
min_ccd_dt: self.integration_parameters.min_ccd_dt,
erp: self.integration_parameters.erp,
damping_ratio: self.integration_parameters.damping_ratio,
joint_erp: self.integration_parameters.joint_erp,
contact_damping_ratio: self.integration_parameters.contact_damping_ratio,
contact_natural_frequency: self.integration_parameters.contact_natural_frequency,
joint_natural_frequency: self.integration_parameters.joint_natural_frequency,
joint_damping_ratio: self.integration_parameters.joint_damping_ratio,
warmstart_coefficient: self.integration_parameters.warmstart_coefficient,
length_unit: self.integration_parameters.length_unit,
normalized_allowed_linear_error: self.integration_parameters.allowed_linear_error,
normalized_max_penetration_correction: self
normalized_max_corrective_velocity: self
.integration_parameters
.max_penetration_correction,
.normalized_max_corrective_velocity,
normalized_prediction_distance: self.integration_parameters.prediction_distance,
num_solver_iterations: NonZeroUsize::new(
self.integration_parameters.num_solver_iterations,
Expand Down Expand Up @@ -1200,7 +1204,7 @@ impl PhysicsWorld {
// likely end up in panic because of invalid handle stored in internal acceleration
// structure. This could be fixed by delaying deleting of bodies/collider to the end
// of the frame.
query.update(&self.bodies, &self.colliders);
query.update(&self.colliders);

query_buffer.clear();
let ray = Ray::new(
Expand Down

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