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Introduce the PhysicsHook trait used for both contact filtering and contact modification.

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This commit is contained in:
Crozet Sébastien
2021-02-23 11:24:54 +01:00
parent ad5c10672e
commit 00706e8b36
8 changed files with 160 additions and 58 deletions
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63
src/geometry/narrow_phase.rs
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@@ -4,10 +4,11 @@ use rayon::prelude::*;
use crate::data::pubsub::Subscription;
use crate::data::Coarena;
use crate::dynamics::{BodyPair, CoefficientCombineRule, RigidBodySet};
use crate::geometry::pair_filter::{ContactModificationContext, PhysicsHooksFlags};
use crate::geometry::{
BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactData, ContactEvent,
ContactManifoldData, ContactPairFilter, IntersectionEvent, IntersectionPairFilter,
PairFilterContext, RemovedCollider, SolverContact, SolverFlags,
ContactManifoldData, IntersectionEvent, PairFilterContext, PhysicsHooks, RemovedCollider,
SolverContact, SolverFlags,
};
use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
use crate::math::{Real, Vector};
@@ -387,11 +388,13 @@ impl NarrowPhase {
&mut self,
bodies: &RigidBodySet,
colliders: &ColliderSet,
pair_filter: Option<&dyn IntersectionPairFilter>,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
let nodes = &self.intersection_graph.graph.nodes;
let query_dispatcher = &*self.query_dispatcher;
let active_hooks = hooks.active_hooks();
par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| {
let handle1 = nodes[edge.source().index()].weight;
let handle2 = nodes[edge.target().index()].weight;
@@ -415,12 +418,15 @@ impl NarrowPhase {
return;
}
if pair_filter.is_none() && !rb1.is_dynamic() && !rb2.is_dynamic() {
if !active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR)
&& !rb1.is_dynamic()
&& !rb2.is_dynamic()
{
// Default filtering rule: no intersection between two non-dynamic bodies.
return;
}
if let Some(filter) = pair_filter {
if active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR) {
let context = PairFilterContext {
rigid_body1: rb1,
rigid_body2: rb2,
@@ -430,7 +436,7 @@ impl NarrowPhase {
collider2: co2,
};
if !filter.filter_intersection_pair(&context) {
if !hooks.filter_intersection_pair(&context) {
// No intersection allowed.
return;
}
@@ -458,10 +464,11 @@ impl NarrowPhase {
prediction_distance: Real,
bodies: &RigidBodySet,
colliders: &ColliderSet,
pair_filter: Option<&dyn ContactPairFilter>,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
let query_dispatcher = &*self.query_dispatcher;
let active_hooks = hooks.active_hooks();
par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
let pair = &mut edge.weight;
@@ -485,12 +492,16 @@ impl NarrowPhase {
return;
}
if pair_filter.is_none() && !rb1.is_dynamic() && !rb2.is_dynamic() {
if !active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
&& !rb1.is_dynamic()
&& !rb2.is_dynamic()
{
// Default filtering rule: no contact between two non-dynamic bodies.
return;
}
let mut solver_flags = if let Some(filter) = pair_filter {
let mut solver_flags = if active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
{
let context = PairFilterContext {
rigid_body1: rb1,
rigid_body2: rb2,
@@ -500,7 +511,7 @@ impl NarrowPhase {
collider2: co2,
};
if let Some(solver_flags) = filter.filter_contact_pair(&context) {
if let Some(solver_flags) = hooks.filter_contact_pair(&context) {
solver_flags
} else {
// No contact allowed.
@@ -566,13 +577,39 @@ impl NarrowPhase {
data: contact.data,
};
// TODO: apply the user-defined contact modification/removal, if needed.
manifold.data.solver_contacts.push(solver_contact);
has_any_active_contact = true;
continue;
}
}
// Apply the user-defined contact modification.
if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
&& manifold
.data
.solver_flags
.contains(SolverFlags::MODIFY_SOLVER_CONTACTS)
{
let mut modifiable_solver_contacts =
std::mem::replace(&mut manifold.data.solver_contacts, Vec::new());
let mut modifiable_user_data = manifold.data.user_data;
let mut context = ContactModificationContext {
rigid_body1: rb1,
rigid_body2: rb2,
collider_handle1: pair.pair.collider1,
collider_handle2: pair.pair.collider2,
collider1: co1,
collider2: co2,
manifold,
solver_contacts: &mut modifiable_solver_contacts,
user_data: &mut modifiable_user_data,
};
hooks.modify_solver_contacts(&mut context);
manifold.data.solver_contacts = modifiable_solver_contacts;
manifold.data.user_data = modifiable_user_data;
}
}
if has_any_active_contact != pair.has_any_active_contact {