Preserve collisions between inactive entities, add sensor example #266

TeamDman · 2023-11-29T20:28:12Z

Objective

Fixes #264

Code_OpvVDqEdIr.mp4

Changelog

This section is optional. If this was a trivial fix, or has no externally-visible impact, you can delete this section.

Added example
Added collision preservation logic

Other

5 tests are failing when I run them, but they fail without my changes so idk

Details

     Running unittests ../../src/lib.rs (target\debug\deps\bevy_xpbd_3d-f7a1d1ec81464a89.exe)

running 10 tests
test components::tests::coefficient_combine_works ... ok
test components::tests::restitution_clamping_works ... ok
test components::world_queries::tests::mass_properties_add_assign_works ... ok
test components::world_queries::tests::mass_properties_sub_assign_works ... ok
test components::world_queries::tests::mass_properties_add_sub_works ... ok
test tests::no_ambiguity_errors ... FAILED
test tests::body_with_velocity_moves ... FAILED
test tests::body_with_velocity_moves_on_first_frame ... FAILED
test tests::it_loads_plugin_without_errors ... FAILED
test tests::cubes_simulation_is_locally_deterministic ... FAILED

failures:

---- tests::no_ambiguity_errors stdout ----
thread 'tests::no_ambiguity_errors' panicked at C:\Users\TeamD\.cargo\registry\src\index.crates.io-6f17d22bba15001f\bevy_ecs-0.12.0\src\system\system_param.rs:451:17:
Resource requested by bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders does not exist: bevy_asset::assets::Assets<bevy_render::mesh::mesh::Mesh>
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace
Encountered a panic in system `bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders`!
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!

---- tests::body_with_velocity_moves stdout ----
thread 'tests::body_with_velocity_moves' panicked at C:\Users\TeamD\.cargo\registry\src\index.crates.io-6f17d22bba15001f\bevy_ecs-0.12.0\src\system\system_param.rs:451:17:
Resource requested by bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders does not exist: bevy_asset::assets::Assets<bevy_render::mesh::mesh::Mesh>
Encountered a panic in system `bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders`!
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!

---- tests::body_with_velocity_moves_on_first_frame stdout ----
thread 'tests::body_with_velocity_moves_on_first_frame' panicked at C:\Users\TeamD\.cargo\registry\src\index.crates.io-6f17d22bba15001f\bevy_ecs-0.12.0\src\system\system_param.rs:451:17:
Resource requested by bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders does not exist: bevy_asset::assets::Assets<bevy_render::mesh::mesh::Mesh>
Encountered a panic in system `bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders`!
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!

---- tests::it_loads_plugin_without_errors stdout ----
thread 'tests::it_loads_plugin_without_errors' panicked at C:\Users\TeamD\.cargo\registry\src\index.crates.io-6f17d22bba15001f\bevy_ecs-0.12.0\src\system\system_param.rs:451:17:
Resource requested by bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders does not exist: bevy_asset::assets::Assets<bevy_render::mesh::mesh::Mesh>
Encountered a panic in system `bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders`!
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!

---- tests::cubes_simulation_is_locally_deterministic stdout ----
thread 'tests::cubes_simulation_is_locally_deterministic' panicked at C:\Users\TeamD\.cargo\registry\src\index.crates.io-6f17d22bba15001f\bevy_ecs-0.12.0\src\system\system_param.rs:451:17:
Resource requested by bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders does not exist: bevy_asset::assets::Assets<bevy_render::mesh::mesh::Mesh>
Encountered a panic in system `bevy_xpbd_3d::plugins::prepare::init_async_scene_colliders`!
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!


failures:
    tests::body_with_velocity_moves
    tests::body_with_velocity_moves_on_first_frame
    tests::cubes_simulation_is_locally_deterministic
    tests::it_loads_plugin_without_errors
    tests::no_ambiguity_errors

test result: FAILED. 5 passed; 5 failed; 0 ignored; 0 measured; 0 filtered out; finished in 0.01s

TeamDman · 2023-11-29T20:32:09Z

src/plugins/collision/narrow_phase.rs

+            .map(Option::unwrap)
+            .collect_vec();
+
+        collisions.extend(existing_unmoving_collisions);


This shouldn't introduce duplicate collisions since broad_collision_pairs doesn't include pairs of inactive entities, where "inactive" is determined by the same is_changed checks

https://github.com/Jondolf/bevy_xpbd/blob/088facfe3761235f0b297bc1493927a12a6fe21b/src/plugins/collision/broad_phase.rs#L192

https://github.com/Jondolf/bevy_xpbd/blob/088facfe3761235f0b297bc1493927a12a6fe21b/src/plugins/collision/broad_phase.rs#L259-L262

Jondolf · 2023-11-29T20:53:40Z

Thanks! I'll review and test properly when I have time, hopefully tomorrow or at least by the end of the week.

Tests are failing with just cargo test because of #191. It should be a very quick fix so I'll do that now

TeamDman · 2023-11-29T21:51:55Z

Looks like my fix has a problem where the collisions aren't pruned if the position of the character is updated directly without using the velocity

cursor-hero_LZl9QWoVlg.mp4

also ensure that it runs with and without `parallel` feature

TeamDman · 2023-11-30T01:05:14Z

Updated the new example to use WASD for velocity-based movement and arrow keys for position-based movement.

Code_lIQYSL5VbW.mp4

Looks like it's better now :D

Jondolf

Hi, sorry I'm properly reviewing this so late.

The approach here should be fine for now, but I think it might be a little hacky. Ideally, the broad phase would just preserve the collisions automatically and the narrow phase wouldn't need so much get_many. This can be attempted in a future PR though, I'm content getting this merged as soon as possible since it's been sitting for a while.

I'd also like the sensor example to be more minimal and focused; having both velocity and position based movement and other velocity stuff is useful for debugging this issue, but it's not really useful from a user learning perspective. I generally try to roughly follow Bevy's example guidelines for examples showcasing a specific feature, like sensors in this case. But to be fair, some of our examples already don't follow it very well, and it can be improved in future PRs, so it's not a blocker here.

There's some linting and compilation issues that still need to be resolved though. I left review comments for these.

Jondolf · 2023-12-16T15:39:50Z

src/plugins/collision/narrow_phase.rs

+        for &(entity1, entity2) in broad_collision_pairs
+            .0
+            .iter()
+            .chain(existing_stationary_collisions)


This causes ownership issues because existing_stationary_collisions borrows collisions but you also insert to it inside the loop.

Jondolf · 2023-12-16T15:42:26Z

src/plugins/collision/narrow_phase.rs

+    // we want to preserve collisions between entities that are both stationary
+    // they are not included in [`BroadCollisionPairs`], so we need to ensure they are still checked
+    let existing_stationary_collisions = collisions.0.keys().filter(|&&(e1, e2)| {
+        if let Ok([bundle1, bundle2]) = bodies.get_many([e1, e2]) {


Ideally, the broad phase would automatically preserve these collisions and we wouldn't need to do so much get_many. This can definitely be attempted in a follow-up PR though

src/plugins/collision/narrow_phase.rs

crates/bevy_xpbd_2d/examples/sensor.rs

Co-authored-by: Joona Aalto <[email protected]>

Jondolf

I fixed the rest of the errors myself and cleaned up the code a bit to reduce duplication. Merging now! I'll probably try to find a less hacky approach at some point though, and also simplify the sensor example a bit

TeamDman added 3 commits November 29, 2023 13:50

add sensor example

5e50e9a

fix the decimal places since we truncate

b665c6f

preserve collisions between inactive entities

bd8ca9c

TeamDman commented Nov 29, 2023

View reviewed changes

Jondolf added bugfix A-Collision Relates to the broad phase, narrow phase, colliders, or other collision functionality labels Nov 29, 2023

TeamDman added 3 commits November 29, 2023 18:23

make arrow keys position movement instead of velocity for testing

dcee6e5

fix unmoving collisions not being reevaluated properly

60befa6

also ensure that it runs with and without `parallel` feature

restore TODO comment

18818ef

Jondolf requested changes Dec 16, 2023

View reviewed changes

TeamDman and others added 7 commits December 16, 2023 19:19

Update src/plugins/collision/narrow_phase.rs

203befc

Co-authored-by: Joona Aalto <[email protected]>

Update crates/bevy_xpbd_2d/examples/sensor.rs

bbede51

Co-authored-by: Joona Aalto <[email protected]>

Update crates/bevy_xpbd_2d/examples/sensor.rs

c60e7ec

Co-authored-by: Joona Aalto <[email protected]>

remove unused import

4cd5c3e

just clone the entity IDs to prevent concurrent modification problems

4776f88

Fix linting issues and compile errors and clean up code

91f731b

Fix math types in example

7835928

Jondolf approved these changes Dec 28, 2023

View reviewed changes

Jondolf merged commit 4103b56 into Jondolf:main Dec 28, 2023
4 checks passed

Jondolf added C-Bug Something isn't working and removed bugfix labels Jul 19, 2024

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Preserve collisions between inactive entities, add sensor example #266

Preserve collisions between inactive entities, add sensor example #266

TeamDman commented Nov 29, 2023

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Jondolf commented Nov 29, 2023

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Preserve collisions between inactive entities, add sensor example #266

Preserve collisions between inactive entities, add sensor example #266

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TeamDman commented Nov 29, 2023

Objective

Changelog

Other

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Jondolf commented Nov 29, 2023

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TeamDman commented Nov 29, 2023 •

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