void PeopleInfoManager::reloadData()
{
restoreContacts();
requestMyAccount();
requestContactList();
}
std::shared_ptr<PhysicsManagerState> CcdCollisionLoop::doUpdate(const double& dt,
const std::shared_ptr<PhysicsManagerState>& state)
{
auto ccdState = state;
auto& collisionPairs = state->getCollisionPairs();
std::vector<std::shared_ptr<Collision::CollisionPair>> ccdPairs;
ccdPairs.reserve(collisionPairs.size());
std::copy_if(collisionPairs.cbegin(), collisionPairs.cend(), std::back_inserter(ccdPairs),
[](const std::shared_ptr<Collision::CollisionPair>& p)
{
return p->getType() == Collision::COLLISION_DETECTION_TYPE_CONTINUOUS;
});
double timeOfImpact = 0.0;
double localTimeOfImpact = 0.0;
std::vector<std::list<std::shared_ptr<Collision::Contact>>> oldContacts;
bool executedOnce = false;
size_t iterations = 0;
for (; iterations < m_maxIterations; ++iterations)
{
double epsilon = 1.0 / ((1 - timeOfImpact) * m_epsilonFactor);
ccdState = m_updateCcdData->update(localTimeOfImpact, ccdState);
ccdState = m_ccdCollision->update(dt, ccdState);
ccdState = m_contactFilter->update(dt, ccdState);
if (m_logger->getThreshold() <= SurgSim::Framework::LOG_LEVEL_DEBUG)
{
printContacts(ccdPairs);
}
// Find the first impact and filter all contacts beyond a given epsilon
if (!findEarliestContact(ccdPairs, &localTimeOfImpact))
{
break;
}
filterLaterContacts(&ccdPairs, epsilon, localTimeOfImpact);
restoreContacts(&ccdPairs, &oldContacts);
ccdState = m_constraintGeneration->update(dt, ccdState);
ccdState = m_buildMlcp->update(dt, ccdState);
ccdState = m_solveMlcp->update(dt, ccdState);
ccdState = m_pushResults->update(dt, ccdState);
executedOnce = true;
backupContacts(&ccdPairs, &oldContacts);
timeOfImpact += (1.0 - timeOfImpact) * localTimeOfImpact;
if (timeOfImpact > 1.0)
{
SURGSIM_LOG_SEVERE(m_logger) << "Calculated time of impact is greater " <<
"than the parametric upper bound of 1.0 (" <<
timeOfImpact << ")" << std::endl;
break;
}
// Lambda == 0 means we are no longer generating corrections. Exit the loop.
// We will take up the collision detection at the start of the next time step.
if (ccdState->getMlcpSolution().x.isZero())
{
break;
}
}
SURGSIM_LOG_IF(iterations == m_maxIterations, m_logger, WARNING) <<
"Maxed out iterations (" << m_maxIterations << ")";
restoreContacts(&ccdPairs, &oldContacts);
if (!executedOnce)
{
ccdState = m_constraintGeneration->update(dt, ccdState);
ccdState = m_buildMlcp->update(dt, ccdState);
ccdState = m_solveMlcp->update(dt, ccdState);
ccdState = m_pushResults->update(dt, ccdState);
}
return ccdState;
}
