nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

46
src/geometry/narrow_phase.rs
View File

@@ -27,8 +27,8 @@ struct ColliderGraphIndices {
impl ColliderGraphIndices {
fn invalid() -> Self {
Self {
contact_graph_index: InteractionGraph::<ContactPair>::invalid_graph_index(),
intersection_graph_index: InteractionGraph::<bool>::invalid_graph_index(),
contact_graph_index: InteractionGraph::<(), ()>::invalid_graph_index(),
intersection_graph_index: InteractionGraph::<(), ()>::invalid_graph_index(),
}
}
}
@@ -42,8 +42,8 @@ pub struct NarrowPhase {
serde(skip, default = "crate::geometry::default_persistent_query_dispatcher")
)]
query_dispatcher: Arc<dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>>,
contact_graph: InteractionGraph<ContactPair>,
intersection_graph: InteractionGraph<bool>,
contact_graph: InteractionGraph<ColliderHandle, ContactPair>,
intersection_graph: InteractionGraph<ColliderHandle, bool>,
graph_indices: Coarena<ColliderGraphIndices>,
removed_colliders: Option<Subscription<RemovedCollider>>,
}
@@ -71,12 +71,12 @@ impl NarrowPhase {
}
/// The contact graph containing all contact pairs and their contact information.
pub fn contact_graph(&self) -> &InteractionGraph<ContactPair> {
pub fn contact_graph(&self) -> &InteractionGraph<ColliderHandle, ContactPair> {
&self.contact_graph
}
/// The intersection graph containing all intersection pairs and their intersection information.
pub fn intersection_graph(&self) -> &InteractionGraph<bool> {
pub fn intersection_graph(&self) -> &InteractionGraph<ColliderHandle, bool> {
&self.intersection_graph
}
@@ -85,7 +85,7 @@ impl NarrowPhase {
&self,
collider: ColliderHandle,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
let id = self.graph_indices.get(collider)?;
let id = self.graph_indices.get(collider.0)?;
Some(self.contact_graph.interactions_with(id.contact_graph_index))
}
@@ -94,7 +94,7 @@ impl NarrowPhase {
&'a self,
collider: ColliderHandle,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + 'a> {
let id = self.graph_indices.get(collider)?;
let id = self.graph_indices.get(collider.0)?;
Some(
self.intersection_graph
.interactions_with(id.intersection_graph_index)
@@ -112,8 +112,8 @@ impl NarrowPhase {
collider1: ColliderHandle,
collider2: ColliderHandle,
) -> Option<&ContactPair> {
let id1 = self.graph_indices.get(collider1)?;
let id2 = self.graph_indices.get(collider2)?;
let id1 = self.graph_indices.get(collider1.0)?;
let id2 = self.graph_indices.get(collider2.0)?;
self.contact_graph
.interaction_pair(id1.contact_graph_index, id2.contact_graph_index)
.map(|c| c.2)
@@ -128,8 +128,8 @@ impl NarrowPhase {
collider1: ColliderHandle,
collider2: ColliderHandle,
) -> Option<bool> {
let id1 = self.graph_indices.get(collider1)?;
let id2 = self.graph_indices.get(collider2)?;
let id1 = self.graph_indices.get(collider1.0)?;
let id2 = self.graph_indices.get(collider2.0)?;
self.intersection_graph
.interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index)
.map(|c| *c.2)
@@ -173,7 +173,7 @@ impl NarrowPhase {
while let Some(collider) = colliders.removed_colliders.read_ith(&cursor, i) {
// NOTE: if the collider does not have any graph indices currently, there is nothing
// to remove in the narrow-phase for this collider.
if let Some(graph_idx) = self.graph_indices.get(collider.handle) {
if let Some(graph_idx) = self.graph_indices.get(collider.handle.0) {
let intersection_graph_id = prox_id_remap
.get(&collider.handle)
.copied()
@@ -223,7 +223,7 @@ impl NarrowPhase {
// We have to manage the fact that one other collider will
// have its graph index changed because of the node's swap-remove.
if let Some(replacement) = self.intersection_graph.remove_node(intersection_graph_id) {
if let Some(replacement) = self.graph_indices.get_mut(replacement) {
if let Some(replacement) = self.graph_indices.get_mut(replacement.0) {
replacement.intersection_graph_index = intersection_graph_id;
} else {
prox_id_remap.insert(replacement, intersection_graph_id);
@@ -231,7 +231,7 @@ impl NarrowPhase {
}
if let Some(replacement) = self.contact_graph.remove_node(contact_graph_id) {
if let Some(replacement) = self.graph_indices.get_mut(replacement) {
if let Some(replacement) = self.graph_indices.get_mut(replacement.0) {
replacement.contact_graph_index = contact_graph_id;
} else {
contact_id_remap.insert(replacement, contact_graph_id);
@@ -258,22 +258,22 @@ impl NarrowPhase {
}
let (gid1, gid2) = self.graph_indices.ensure_pair_exists(
pair.collider1,
pair.collider2,
pair.collider1.0,
pair.collider2.0,
ColliderGraphIndices::invalid(),
);
if co1.is_sensor() || co2.is_sensor() {
// NOTE: the collider won't have a graph index as long
// as it does not interact with anything.
if !InteractionGraph::<bool>::is_graph_index_valid(
if !InteractionGraph::<(), ()>::is_graph_index_valid(
gid1.intersection_graph_index,
) {
gid1.intersection_graph_index =
self.intersection_graph.graph.add_node(pair.collider1);
}
if !InteractionGraph::<bool>::is_graph_index_valid(
if !InteractionGraph::<(), ()>::is_graph_index_valid(
gid2.intersection_graph_index,
) {
gid2.intersection_graph_index =
@@ -301,14 +301,14 @@ impl NarrowPhase {
// NOTE: the collider won't have a graph index as long
// as it does not interact with anything.
if !InteractionGraph::<ContactPair>::is_graph_index_valid(
if !InteractionGraph::<(), ()>::is_graph_index_valid(
gid1.contact_graph_index,
) {
gid1.contact_graph_index =
self.contact_graph.graph.add_node(pair.collider1);
}
if !InteractionGraph::<ContactPair>::is_graph_index_valid(
if !InteractionGraph::<(), ()>::is_graph_index_valid(
gid2.contact_graph_index,
) {
gid2.contact_graph_index =
@@ -338,8 +338,8 @@ impl NarrowPhase {
// TODO: could we just unwrap here?
// Don't we have the guarantee that we will get a `AddPair` before a `DeletePair`?
if let (Some(gid1), Some(gid2)) = (
self.graph_indices.get(pair.collider1),
self.graph_indices.get(pair.collider2),
self.graph_indices.get(pair.collider1.0),
self.graph_indices.get(pair.collider2.0),
) {
if co1.is_sensor() || co2.is_sensor() {
let was_intersecting = self.intersection_graph.remove_edge(