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Fix user changes handling (#803)

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* add failing test from @Johannes0021

* apply fix on update_positions

* apply fix on ColliderSet::iter_mut

* fix clippy..

* more complete test

* feat: refactor modified sets into a wrapper to avoid future mistakes

* chore: fix typos

---------

Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
This commit is contained in:
Thierry Berger
2025-03-28 12:48:25 +01:00
committed by GitHub
parent d291041278
commit 176c3bae14
10 changed files with 272 additions and 78 deletions
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17
src/pipeline/user_changes.rs
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@@ -4,6 +4,7 @@ use crate::dynamics::{
};
use crate::geometry::{
ColliderChanges, ColliderEnabled, ColliderHandle, ColliderPosition, ColliderSet,
ModifiedColliders,
};
pub(crate) fn handle_user_changes_to_colliders(
@@ -48,7 +49,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
impulse_joints: &mut ImpulseJointSet,
_multibody_joints: &mut MultibodyJointSet, // FIXME: propagate disabled state to multibodies
modified_bodies: &[RigidBodyHandle],
modified_colliders: &mut Vec<ColliderHandle>,
modified_colliders: &mut ModifiedColliders,
) {
enum FinalAction {
UpdateActiveKinematicSetId(usize),
@@ -150,12 +151,8 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
// here because that would modify the `modified_colliders` inside of the `ColliderSet`
// instead of the one passed to this method.
let co = colliders.index_mut_internal(*handle);
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
co.changes |=
ColliderChanges::MODIFIED | ColliderChanges::PARENT_EFFECTIVE_DOMINANCE;
modified_colliders.push_once(*handle, co);
co.changes |= ColliderChanges::PARENT_EFFECTIVE_DOMINANCE;
}
}
@@ -166,9 +163,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
// here because that would modify the `modified_colliders` inside of the `ColliderSet`
// instead of the one passed to this method.
let co = colliders.index_mut_internal(*handle);
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
modified_colliders.push_once(*handle, co);
if rb.enabled && co.flags.enabled == ColliderEnabled::DisabledByParent {
co.flags.enabled = ColliderEnabled::Enabled;
@@ -176,7 +171,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
co.flags.enabled = ColliderEnabled::DisabledByParent;
}
co.changes |= ColliderChanges::MODIFIED | ColliderChanges::ENABLED_OR_DISABLED;
co.changes |= ColliderChanges::ENABLED_OR_DISABLED;
}
// Propagate the rigid-body’s enabled/disable status to its attached impulse joints.