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Inset boundary particles during dynamic collider sampling #66

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Inset boundary particles during dynamic collider sampling #66

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7cbcc5d
Inset boundary particles during dynamic collider sampling
SludgePhD Jan 15, 2025
dc4a36f
Fix warning
SludgePhD Jan 15, 2025
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33 changes: 18 additions & 15 deletions src/integrations/rapier/fluids_pipeline.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,7 @@ impl ColliderCouplingSet {
&'a mut self,
colliders: &'a ColliderSet,
bodies: &'a mut RigidBodySet,
) -> ColliderCouplingManager {
) -> ColliderCouplingManager<'a> {
ColliderCouplingManager {
coupling: self,
colliders,
Expand Down Expand Up @@ -217,32 +217,35 @@ impl<'a> CouplingManager for ColliderCouplingManager<'a> {

let dpt = particle_pos - proj.point;

if let Some((normal, depth)) =
let Some((normal, depth)) =
Unit::try_new_and_get(dpt, f32::default_epsilon())
{
if proj.is_inside {
fluid.positions[*particle_id] -=
*normal * (depth + margin);
else {
continue;
};
if proj.is_inside {
fluid.positions[*particle_id] -=
*normal * (depth + margin);

let vel_err =
normal.dot(&fluid.velocities[*particle_id]);
let vel_err =
normal.dot(&fluid.velocities[*particle_id]);

if vel_err > na::zero::<f32>() {
fluid.velocities[*particle_id] -=
*normal * vel_err;
}
} else if depth > h + prediction {
continue;
if vel_err > na::zero::<f32>() {
fluid.velocities[*particle_id] -= *normal * vel_err;
}
} else if depth > h + prediction {
continue;
}

let normal = if proj.is_inside { -normal } else { normal };
let pos = proj.point - *normal * particle_radius;

let velocity =
body.map(|b| b.velocity_at_point(&proj.point));

boundary
.velocities
.push(velocity.unwrap_or(Vector::zeros()));
boundary.positions.push(proj.point);
boundary.positions.push(pos);
boundary.volumes.push(na::zero::<f32>());
coupling.features.push(feature);
}
Expand Down
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