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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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16
src/pipeline/collision_pipeline.rs
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@@ -2,8 +2,7 @@
use crate::dynamics::{JointSet, RigidBodySet};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactPairFilter,
IntersectionPairFilter, NarrowPhase,
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase, PhysicsHooks,
};
use crate::math::Real;
use crate::pipeline::EventHandler;
@@ -44,8 +43,7 @@ impl CollisionPipeline {
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
contact_pair_filter: Option<&dyn ContactPairFilter>,
proximity_pair_filter: Option<&dyn IntersectionPairFilter>,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
bodies.maintain(colliders);
@@ -58,14 +56,8 @@ impl CollisionPipeline {
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(
prediction_distance,
bodies,
colliders,
contact_pair_filter,
events,
);
narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events);
narrow_phase.compute_contacts(prediction_distance, bodies, colliders, hooks, events);
narrow_phase.compute_intersections(bodies, colliders, hooks, events);
bodies.update_active_set_with_contacts(
colliders,