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Use newtypes for collider, rigid-body and joint handles.

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This commit is contained in:
Crozet Sébastien
2021-01-20 16:33:42 +01:00
parent 28b7866aee
commit 0ade350b5f
11 changed files with 224 additions and 175 deletions
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65
src/dynamics/joint/joint_set.rs
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@@ -1,11 +1,34 @@
use super::Joint;
use crate::geometry::{InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex};
use crate::data::arena::{Arena, Index};
use crate::data::arena::Arena;
use crate::dynamics::{JointParams, RigidBodyHandle, RigidBodySet};
/// The unique identifier of a joint added to the joint set.
pub type JointHandle = Index;
/// The unique identifier of a collider added to a collider set.
#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[repr(transparent)]
pub struct JointHandle(pub(crate) crate::data::arena::Index);
impl JointHandle {
pub fn into_raw_parts(self) -> (usize, u64) {
self.0.into_raw_parts()
}
pub fn from_raw_parts(id: usize, generation: u64) -> Self {
Self(crate::data::arena::Index::from_raw_parts(id, generation))
}
/// An always-invalid joint handle.
pub fn invalid() -> Self {
Self(crate::data::arena::Index::from_raw_parts(
crate::INVALID_USIZE,
crate::INVALID_U64,
))
}
}
pub(crate) type JointIndex = usize;
pub(crate) type JointGraphEdge = crate::data::graph::Edge<Joint>;
@@ -13,7 +36,7 @@ pub(crate) type JointGraphEdge = crate::data::graph::Edge<Joint>;
/// A set of joints that can be handled by a physics `World`.
pub struct JointSet {
joint_ids: Arena<TemporaryInteractionIndex>, // Map joint handles to edge ids on the graph.
joint_graph: InteractionGraph<Joint>,
joint_graph: InteractionGraph<RigidBodyHandle, Joint>,
}
impl JointSet {
@@ -25,29 +48,24 @@ impl JointSet {
}
}
/// An always-invalid joint handle.
pub fn invalid_handle() -> JointHandle {
JointHandle::from_raw_parts(crate::INVALID_USIZE, crate::INVALID_U64)
}
/// The number of joints on this set.
pub fn len(&self) -> usize {
self.joint_graph.graph.edges.len()
}
/// Retrieve the joint graph where edges are joints and nodes are rigid body handles.
pub fn joint_graph(&self) -> &InteractionGraph<Joint> {
pub fn joint_graph(&self) -> &InteractionGraph<RigidBodyHandle, Joint> {
&self.joint_graph
}
/// Is the given joint handle valid?
pub fn contains(&self, handle: JointHandle) -> bool {
self.joint_ids.contains(handle)
self.joint_ids.contains(handle.0)
}
/// Gets the joint with the given handle.
pub fn get(&self, handle: JointHandle) -> Option<&Joint> {
let id = self.joint_ids.get(handle)?;
let id = self.joint_ids.get(handle.0)?;
self.joint_graph.graph.edge_weight(*id)
}
@@ -62,7 +80,10 @@ impl JointSet {
/// suffer form the ABA problem.
pub fn get_unknown_gen(&self, i: usize) -> Option<(&Joint, JointHandle)> {
let (id, handle) = self.joint_ids.get_unknown_gen(i)?;
Some((self.joint_graph.graph.edge_weight(*id)?, handle))
Some((
self.joint_graph.graph.edge_weight(*id)?,
JointHandle(handle),
))
}
/// Iterates through all the joint on this set.
@@ -117,7 +138,7 @@ impl JointSet {
let joint = Joint {
body1,
body2,
handle,
handle: JointHandle(handle),
#[cfg(feature = "parallel")]
constraint_index: 0,
#[cfg(feature = "parallel")]
@@ -133,11 +154,13 @@ impl JointSet {
// NOTE: the body won't have a graph index if it does not
// have any joint attached.
if !InteractionGraph::<Joint>::is_graph_index_valid(rb1.joint_graph_index) {
if !InteractionGraph::<RigidBodyHandle, Joint>::is_graph_index_valid(rb1.joint_graph_index)
{
rb1.joint_graph_index = self.joint_graph.graph.add_node(joint.body1);
}
if !InteractionGraph::<Joint>::is_graph_index_valid(rb2.joint_graph_index) {
if !InteractionGraph::<RigidBodyHandle, Joint>::is_graph_index_valid(rb2.joint_graph_index)
{
rb2.joint_graph_index = self.joint_graph.graph.add_node(joint.body2);
}
@@ -146,7 +169,7 @@ impl JointSet {
.add_edge(rb1.joint_graph_index, rb2.joint_graph_index, joint);
self.joint_ids[handle] = id;
handle
JointHandle(handle)
}
/// Retrieve all the joints happening between two active bodies.
@@ -191,7 +214,7 @@ impl JointSet {
bodies: &mut RigidBodySet,
wake_up: bool,
) -> Option<Joint> {
let id = self.joint_ids.remove(handle)?;
let id = self.joint_ids.remove(handle.0)?;
let endpoints = self.joint_graph.graph.edge_endpoints(id)?;
if wake_up {
@@ -207,7 +230,7 @@ impl JointSet {
let removed_joint = self.joint_graph.graph.remove_edge(id);
if let Some(edge) = self.joint_graph.graph.edge_weight(id) {
self.joint_ids[edge.handle] = id;
self.joint_ids[edge.handle.0] = id;
}
removed_joint
@@ -218,7 +241,7 @@ impl JointSet {
deleted_id: RigidBodyGraphIndex,
bodies: &mut RigidBodySet,
) {
if InteractionGraph::<()>::is_graph_index_valid(deleted_id) {
if InteractionGraph::<(), ()>::is_graph_index_valid(deleted_id) {
// We have to delete each joint one by one in order to:
// - Wake-up the attached bodies.
// - Update our Handle -> graph edge mapping.
@@ -229,12 +252,12 @@ impl JointSet {
.map(|e| (e.0, e.1, e.2.handle))
.collect();
for (h1, h2, to_delete_handle) in to_delete {
let to_delete_edge_id = self.joint_ids.remove(to_delete_handle).unwrap();
let to_delete_edge_id = self.joint_ids.remove(to_delete_handle.0).unwrap();
self.joint_graph.graph.remove_edge(to_delete_edge_id);
// Update the id of the edge which took the place of the deleted one.
if let Some(j) = self.joint_graph.graph.edge_weight_mut(to_delete_edge_id) {
self.joint_ids[j.handle] = to_delete_edge_id;
self.joint_ids[j.handle.0] = to_delete_edge_id;
}
// Wake up the attached bodies.