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Fixed temporal coherency of polyhedron contacts

This commit is contained in:
Diren D Bharwani 2023-01-07 02:19:26 +08:00
parent 3e91f99d78
commit 8d8a300a60
4 changed files with 34 additions and 16 deletions
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2
Assets/Scenes/PhysicsSandbox.shade
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@ -280,7 +280,7 @@
NumberOfChildren: 0
Components:
Transform Component:
Translate: {x: -0.5, y: 13.5, z: 0}
Translate: {x: 0.400000006, y: 13.5, z: 0}
Rotate: {x: -0, y: 0, z: 0}
Scale: {x: 0.999999821, y: 0.999999821, z: 0.999999881}
IsActive: true

2
SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollision.h
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@ -116,7 +116,7 @@ namespace SHADE
static float distanceBetweenEdges (const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept;
static SHVec3 findClosestPointBetweenEdges (const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept;
static int32_t findIncidentFace (const SHConvexPolyhedron& poly, const SHVec3& normal) noexcept;
static std::vector<SHContact> clipPolygonAgainstPlane (const std::vector<SHContact>& in, const SHPlane& plane) noexcept;
static std::vector<SHContact> clipPolygonAgainstPlane (const std::vector<SHContact>& in, const SHPlane& plane, int32_t refIdx) noexcept;
static std::vector<SHContact> reduceContacts (const std::vector<SHContact>& in, const SHVec3& normal) noexcept;
// TODO: Reduce Manifold

37
SHADE_Engine/src/Physics/Collision/Narrowphase/SHConvexVsConvex.cpp
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@ -151,10 +151,11 @@ namespace SHADE
// Number of vertices == number of edges on face
// Clip against each edge of face
int32_t numClipped = 0;
const SHHalfEdgeStructure::Face& REFERENCE_FACE = referencePoly->GetFace(minFaceQuery.closestFace);
const int32_t NUM_EDGES = static_cast<int32_t>(INCIDENT_FACE.vertexIndices.size());
const size_t COPY_SIZE = sizeof(SHContact) * MAX_NUM_CONTACTS;
for (const int32_t i : std::views::iota(0, NUM_EDGES))
{
// Build a plane on the reference poly normal X tangent and the tail of the tangent
@ -167,8 +168,17 @@ namespace SHADE
const SHVec3 TANGENT = SHVec3::Normalise(V2 - V1);
const SHPlane PLANE{ V1, SHVec3::Cross(REFERENCE_NORMAL, TANGENT) };
auto clipped = clipPolygonAgainstPlane(incidentPolygon, PLANE);
memcpy_s(incidentPolygon.data(), COPY_SIZE, clipped.data(), COPY_SIZE);
auto clipped = clipPolygonAgainstPlane(incidentPolygon, PLANE, V1_IDX);
numClipped = static_cast<int32_t>(clipped.size());
// Resize the reused container to hold all the clipped points.
if (incidentPolygon.size() < clipped.size())
{
incidentPolygon.clear();
incidentPolygon.resize(numClipped);
}
memcpy_s(incidentPolygon.data(), sizeof(SHContact) * numClipped, clipped.data(), sizeof(SHContact) * numClipped);
}
// From clipped polygon, only keep points that are below the reference face
@ -183,8 +193,9 @@ namespace SHADE
if (DEPTH <= 0.0f)
{
SHContact contact;
contact.position = cp.position;
contact.penetration = -DEPTH;
contact.position = cp.position;
contact.penetration = -DEPTH;
contact.featurePair.key = cp.featurePair.key;
if (flipNormal)
{
@ -211,8 +222,6 @@ namespace SHADE
memcpy_s(manifold.contacts, sizeof(SHContact) * numContacts, finalContacts.data(), sizeof(SHContact) * numContacts);
}
manifold.normal = flipNormal ? -REFERENCE_NORMAL : REFERENCE_NORMAL;
manifold.numContacts = numContacts;
@ -423,7 +432,7 @@ namespace SHADE
return bestFace;
}
std::vector<SHContact> SHCollision::clipPolygonAgainstPlane(const std::vector<SHContact>& in, const SHPlane& plane) noexcept
std::vector<SHContact> SHCollision::clipPolygonAgainstPlane(const std::vector<SHContact>& in, const SHPlane& plane, int32_t refIdx) noexcept
{
static constexpr float THRESHOLD = -SHMath::EPSILON;
@ -466,10 +475,10 @@ namespace SHADE
{
SHContact interpolated;
interpolated.featurePair.indexA = TAIL.featurePair.indexA;
interpolated.featurePair.indexA = refIdx;
interpolated.featurePair.indexB = TAIL.featurePair.indexB;
interpolated.featurePair.typeA = TAIL.featurePair.typeB;
interpolated.featurePair.typeB = TAIL.featurePair.typeA;
interpolated.featurePair.typeA = SHUtilities::ConvertEnum(SHContactFeatures::Type::VERTEX);
interpolated.featurePair.typeB = SHUtilities::ConvertEnum(SHContactFeatures::Type::FACE);
const SHVec3 DIR = SHVec3::Normalise(HEAD.position - TAIL.position);
interpolated.position = TAIL.position + DIR * std::fabs(TAIL_DISTANCE);
@ -484,10 +493,10 @@ namespace SHADE
SHContact interpolated;
interpolated.featurePair.indexA = TAIL.featurePair.indexA;
interpolated.featurePair.indexA = refIdx;
interpolated.featurePair.indexB = TAIL.featurePair.indexB;
interpolated.featurePair.typeA = TAIL.featurePair.typeB;
interpolated.featurePair.typeB = TAIL.featurePair.typeA;
interpolated.featurePair.typeA = SHUtilities::ConvertEnum(SHContactFeatures::Type::VERTEX);
interpolated.featurePair.typeB = SHUtilities::ConvertEnum(SHContactFeatures::Type::FACE);
const SHVec3 DIR = SHVec3::Normalise(HEAD.position - TAIL.position);
interpolated.position = TAIL.position + DIR * std::fabs(TAIL_DISTANCE);

9
SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp
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@ -271,6 +271,15 @@ namespace SHADE
{
const SHContact& OLD_CONTACT = oldManifold.contacts[j];
SHLOGV_INFO_D
(
"Old vs New \n indexA: {} vs {} \n typeA: {} vs {} \n indexB: {} vs {} \n typeB: {} vs {}"
, OLD_CONTACT.featurePair.indexA, contact.featurePair.indexA
, OLD_CONTACT.featurePair.typeA, contact.featurePair.typeA
, OLD_CONTACT.featurePair.indexB, contact.featurePair.indexB
, OLD_CONTACT.featurePair.typeB, contact.featurePair.typeB
)
if (OLD_CONTACT.featurePair.key == contact.featurePair.key)
{
// If contact features persists, re-project old solution