Spaces:
Running on Zero
Running on Zero
| --- a/src/physics/collision.rs | |
| +++ b/src/physics/collision.rs | |
| contacts: &mut Vec<Contact>, | |
| ) { | |
| contacts.clear(); | |
| + scratch.collided_shapes.clear(); | |
| let (sx, sy) = cfg.shape_basis; | |
| let basis_x = V2::from(body_basis.0 * sx.x + body_basis.1 * sx.y); | |
| let basis_y = V2::from(body_basis.0 * sy.x + body_basis.1 * sy.y); | |
| if separated || push == V2::ZERO { | |
| continue; | |
| } | |
| + // SAT overlap keeps cached contacts eligible even without a new contact. | |
| + scratch.collided_shapes.push(shape_index); | |
| let support_car = rectangle_supports(&car, -push, basis_x, basis_y); | |
| let support_wall = polygon_supports(wall, shape, push); | |
| let mut pairs = [(V2::ZERO, V2::ZERO); 2]; | |
| } | |
| find_contacts_with_basis(cfg, track, position, rotation, body_basis, scratch, contacts); | |
| previous.retain(|c| scratch.broad_pairs.contains(&c.shape_index)); | |
| - scratch.collided_shapes.clear(); | |
| for new in contacts.iter() { | |
| - if !scratch.collided_shapes.contains(&new.shape_index) { | |
| - scratch.collided_shapes.push(new.shape_index); | |
| - } | |
| let radius2 = (cfg.contact_recycle_radius as f32).powi(2); | |
| if let Some(old) = previous.iter_mut().find(|old| { | |
| let a = F2::from(old.local_point) - F2::from(new.local_point); | |
| --- a/gpu/sim/step.h | |
| +++ b/gpu/sim/step.h | |
| } | |
| // The rest of `solve_wall_contacts` once this tick's contacts are merged; | |
| -// `made_contacts` has a bit per broad pair that made contacts. | |
| +// `made_contacts` has a bit per SAT-overlapping broad pair, including | |
| +// overlaps with no new points but a valid retained contact. | |
| __device__ inline SolveResult solve_contacts(const World& w, const VehicleDesc& v, Car& car, uint32_t made_contacts, Vec2 velocity, | |
| float angular, Vec2 initial_velocity, float initial_angular) { | |
| STEP_MARK(ts); | |
| f = car_frame(v, car); | |
| framed = true; | |
| } | |
| - uint32_t made = pair_contacts(w, v, car, f, ci, push, [&](const Contact& c) { | |
| + pair_contacts(w, v, car, f, ci, push, [&](const Contact& c) { | |
| STEP_MARK(tm); | |
| merge_contact(v, car, c); | |
| STEP_SECTION(11, tm); | |
| }); | |
| - made_contacts |= made ? 1u << ci : 0u; | |
| + // Keep cached contacts eligible when SAT overlaps but produces no new point. | |
| + made_contacts |= 1u << ci; | |
| } | |
| STEP_SECTION(2, tc); | |
| SolveResult r = solve_contacts(w, v, car, made_contacts, k.velocity, k.angular, k.previous_velocity, k.previous_angular); | |