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Chaos - reenable collisions and collision filtering in RBAN

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#rb none
[FYI] brice.criswell


#ROBOMERGE-SOURCE: CL 9452139 via CL 9452155
#ROBOMERGE-BOT: (v495-9448618)

[CL 9454772 by chris caulfield in Main branch]
This commit is contained in:
chris caulfield
2019-10-07 14:29:19 -04:00
parent 5d8f5b8ea7
commit 3333914466
3 changed files with 44 additions and 25 deletions
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35
Engine/Source/Runtime/Engine/Private/PhysicsEngine/ImmediatePhysics/ImmediatePhysicsChaos/ImmediatePhysicsSimulation_Chaos.cpp
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@@ -20,7 +20,7 @@
// @todo(ccaulfield): remove when finished
float ChaosImmediate_Evolution_DeltaTime = 0.03f;
int32 ChaosImmediate_Evolution_Iterations = 10;
int32 ChaosImmediate_Collision_Enabled = 0;
int32 ChaosImmediate_Collision_Enabled = 1;
int32 ChaosImmediate_Collision_ApplyEnabled = 0;
int32 ChaosImmediate_Collision_PushOutIterations = 5;
int32 ChaosImmediate_Collision_PushOutPairIterations = 2;
@@ -96,25 +96,6 @@ namespace ImmediatePhysics_Chaos
return false;
}
template<typename T, int d>
void FilterCollisionConstraints(
TArray<Chaos::TRigidBodyContactConstraint<T, d>>& Constraints,
const TMap<const Chaos::TGeometryParticleHandle<T, d>*, TSet<const Chaos::TGeometryParticleHandle<T, d>*>>& IgnoreSetMap)
{
using namespace Chaos;
for (int ConstraintIndex = 0; ConstraintIndex < Constraints.Num(); ++ConstraintIndex)
{
if (ShouldIgnoreCollisionConstraint(Constraints[ConstraintIndex].Particle, Constraints[ConstraintIndex].Levelset, IgnoreSetMap))
{
Constraints.RemoveAtSwap(ConstraintIndex);
--ConstraintIndex;
continue;
}
}
}
//
//
//
@@ -133,10 +114,20 @@ namespace ImmediatePhysics_Chaos
Evolution->AddConstraintRule(JointsRule.Get());
// Filter collisions after detection
// @todo(ccaulfield): Eventually we will build lists of potentially colliding pairs and won't need this
Collisions.SetPostComputeCallback(
[this](TArray<TRigidBodyContactConstraint<FReal, Dimensions>>& Constraints)
[this]()
{
FilterCollisionConstraints(Constraints, IgnoreCollisionParticlePairTable);
Evolution->GetCollisionConstraints().ApplyCollisionModifier(
[this](TRigidBodyContactConstraint<float, 3>& Constraint)
{
if (ShouldIgnoreCollisionConstraint(Constraint.Particle, Constraint.Levelset, IgnoreCollisionParticlePairTable))
{
return ECollisionModifierResult::Disabled;
}
return ECollisionModifierResult::Unchanged;
});
});
#if CHAOS_DEBUG_DRAW

16
Engine/Source/Runtime/Experimental/Chaos/Private/Chaos/PBDCollisionConstraint.cpp
View File

@@ -128,6 +128,20 @@ void TPBDCollisionConstraint<T, d>::RemoveConstraint(int32 Idx)
}
}
template<typename T, int d>
void TPBDCollisionConstraint<T, d>::ApplyCollisionModifier(const TFunction<ECollisionModifierResult(FRigidBodyContactConstraint& Constraint)>& CollisionModifier)
{
for (int ConstraintIndex = 0; ConstraintIndex < NumConstraints(); ++ConstraintIndex)
{
ECollisionModifierResult Result = CollisionModifier(Constraints[ConstraintIndex]);
if (Result == ECollisionModifierResult::Disabled)
{
RemoveConstraint(ConstraintIndex);
--ConstraintIndex;
}
}
}
template<typename T, int d>
void TPBDCollisionConstraint<T, d>::SetPostComputeCallback(const TRigidBodyContactConstraintsPostComputeCallback<T, d>& Callback)
{
@@ -226,7 +240,7 @@ void TPBDCollisionConstraint<T, d>::ComputeConstraints(const FAccelerationStruct
if (PostComputeCallback != nullptr)
{
PostComputeCallback(Constraints);
PostComputeCallback();
}
}

18
Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/PBDCollisionConstraint.h
View File

@@ -45,6 +45,13 @@ enum class ECollisionUpdateType
Deepest //find the deepest penetration. Compute location and normal
};
/** Return value of the collision modification callback */
enum class ECollisionModifierResult
{
Unchanged, /** No change to the collision */
Modified, /** Modified the collision, but want it to remain enabled */
Disabled, /** Collision should be disabled */
};
template<class T, int d>
class CHAOS_API TPBDCollisionConstraintHandle : public TContainerConstraintHandle<TPBDCollisionConstraint<T, d>>
@@ -65,7 +72,7 @@ protected:
};
template<typename T, int d>
using TRigidBodyContactConstraintsPostComputeCallback = TFunction<void(TArray<TRigidBodyContactConstraint<T, d>>& Constraints)>;
using TRigidBodyContactConstraintsPostComputeCallback = TFunction<void()>;
template<typename T, int d>
using TRigidBodyContactConstraintsPostApplyCallback = TFunction<void(const T Dt, const TArray<TPBDCollisionConstraintHandle<T, d>*>& InConstraintHandles)>;
@@ -152,9 +159,16 @@ public:
void RemoveConstraint(int32 Idx);
/**
* Apply a modifier to the constraints and specify which constraints should be disabled.
* You would probably call this in the PostComputeCallback. Prefer this to calling RemoveConstraints in a loop,
* so you don't have to worry about constraint iterator/indices changing.
*/
void ApplyCollisionModifier(const TFunction<ECollisionModifierResult(FRigidBodyContactConstraint& Constraint)>& CollisionModifier);
/**
* Set the callback used just after contacts are generated at the start of a frame tick.
* This can be used to modify or remove constraints from the system.
* This can be used to modify or disable constraints (via ApplyCollisionModifier).
*/
void SetPostComputeCallback(const TRigidBodyContactConstraintsPostComputeCallback<T, d>& Callback);