Added user-implementable traits for collision/proximity pair filtering. #44
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This is closer to what the solver actually does.
sebcrozet
added
breaking change
This is more consistent with the fact that the effect of collision groups is not overwritten either.
|
It looks like this PR introduces a performance regression for the case where objects have all fallen asleep:
Investigating that now. |
sebcrozet
commented
Oct 27, 2020
src/geometry/narrow_phase.rs
Outdated
Comment on lines
304
to
309
| if (rb1.is_sleeping() || rb1.is_static()) && (rb2.is_sleeping() || rb2.is_static()) { | ||
| // No need to update this contact because nothing moved. | ||
| if (rb1.is_sleeping() && rb2.is_static()) || (rb2.is_sleeping() && rb1.is_static()) { | ||
| // No need to update this proximity because nothing moved. | ||
| return; | ||
| } |
There was a problem hiding this comment.
This (and the similar test for contact computation) is the source of the performance regression when objects are resting.
With our change, two sleeping dynamic bodies will no longer be filtered-out by this test.
…ing ignored by the narrow-phase.
sebcrozet
force-pushed
the
custom_callbacks_filtering
branch
from
eefec6f
to
74f0297
Compare
|
I fixed the regression:
This is ready to be merged now. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Fix #3
Fix #15
This PR adds two traits
CollisionPairFilterandProximityPairFilterthat allows user-defined logic for determining if two colliders/sensors are allowed to interact, as discussed in #3If these filters are set by the user (i.e. passed to the
PhysicsPipeline::stepmethod), then they replace the predefined filtering logic which consists of preventing contact computation between two non-dynamic bodies (the collision-groups on the other hands are still taken into account). That way, it is possible for the user to enable contacts and proximity between two non-dynamic bodies to be computed, as suggested in #15Finally, the
CollisionPairFilterreturns aSolverFlagsbitmask that will be used by the constraints solver to handle the contact manifolds for this collision pair. Currently, only one bit is implemented:SolverFlags::COMPUTE_IMPULSES. If this bit is set, then the constraints solver will compute impulses for the contact manifolds generated by this contact pair. If this bit is not set, these contact manifolds will be ignored by the constraints solver.