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Add prelude + use vectors for setting linvel/translation in builders

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This commit is contained in:
Crozet Sébastien
2021-05-25 11:00:13 +02:00
parent 47139323e0
commit 1bef66fea9
93 changed files with 1528 additions and 1259 deletions
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108
src/geometry/narrow_phase.rs
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@@ -97,6 +97,18 @@ impl NarrowPhase {
&self.intersection_graph
}
/// All the contacts involving the given collider.
///
/// It is strongly recommended to use the [`NarrowPhase::contacts_with`] method instead. This
/// method can be used if the generation number of the collider handle isn't known.
pub fn contacts_with_unknown_gen(
&self,
collider: u32,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
let id = self.graph_indices.get_unknown_gen(collider)?;
Some(self.contact_graph.interactions_with(id.contact_graph_index))
}
/// All the contacts involving the given collider.
pub fn contacts_with(
&self,
@@ -106,6 +118,22 @@ impl NarrowPhase {
Some(self.contact_graph.interactions_with(id.contact_graph_index))
}
/// All the intersections involving the given collider.
///
/// It is strongly recommended to use the [`NarrowPhase::intersections_with`] method instead.
/// This method can be used if the generation number of the collider handle isn't known.
pub fn intersections_with_unknown_gen(
&self,
collider: u32,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_> {
let id = self.graph_indices.get_unknown_gen(collider)?;
Some(
self.intersection_graph
.interactions_with(id.intersection_graph_index)
.map(|e| (e.0, e.1, *e.2)),
)
}
/// All the intersections involving the given collider.
pub fn intersections_with(
&self,
@@ -119,6 +147,22 @@ impl NarrowPhase {
)
}
/// The contact pair involving two specific colliders.
///
/// It is strongly recommended to use the [`NarrowPhase::contact_pair`] method instead. This
/// method can be used if the generation number of the collider handle isn't known.
///
/// If this returns `None`, there is no contact between the two colliders.
/// If this returns `Some`, then there may be a contact between the two colliders. Check the
/// result [`ContactPair::has_any_active_collider`] method to see if there is an actual contact.
pub fn contact_pair_unknown_gen(&self, collider1: u32, collider2: u32) -> Option<&ContactPair> {
let id1 = self.graph_indices.get_unknown_gen(collider1)?;
let id2 = self.graph_indices.get_unknown_gen(collider2)?;
self.contact_graph
.interaction_pair(id1.contact_graph_index, id2.contact_graph_index)
.map(|c| c.2)
}
/// The contact pair involving two specific colliders.
///
/// If this returns `None`, there is no contact between the two colliders.
@@ -136,6 +180,21 @@ impl NarrowPhase {
.map(|c| c.2)
}
/// The intersection pair involving two specific colliders.
///
/// It is strongly recommended to use the [`NarrowPhase::intersection_pair`] method instead. This
/// method can be used if the generation number of the collider handle isn't known.
///
/// If this returns `None` or `Some(false)`, then there is no intersection between the two colliders.
/// If this returns `Some(true)`, then there may be an intersection between the two colliders.
pub fn intersection_pair_unknown_gen(&self, collider1: u32, collider2: u32) -> Option<bool> {
let id1 = self.graph_indices.get_unknown_gen(collider1)?;
let id2 = self.graph_indices.get_unknown_gen(collider2)?;
self.intersection_graph
.interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index)
.map(|c| *c.2)
}
/// The intersection pair involving two specific colliders.
///
/// If this returns `None` or `Some(false)`, then there is no intersection between the two colliders.
@@ -527,7 +586,7 @@ impl NarrowPhase {
.find_edge(gid1.contact_graph_index, gid2.contact_graph_index)
.is_none()
{
let interaction = ContactPair::new(*pair);
let interaction = ContactPair::new(pair.collider1, pair.collider2);
let _ = self.contact_graph.add_edge(
gid1.contact_graph_index,
gid2.contact_graph_index,
@@ -585,7 +644,8 @@ impl NarrowPhase {
+ ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderGroups>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderPosition>,
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderMaterial>,
{
if modified_colliders.is_empty() {
return;
@@ -593,7 +653,6 @@ impl NarrowPhase {
let nodes = &self.intersection_graph.graph.nodes;
let query_dispatcher = &*self.query_dispatcher;
let active_hooks = hooks.active_hooks();
// TODO: don't iterate on all the edges.
par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| {
@@ -601,19 +660,21 @@ impl NarrowPhase {
let handle2 = nodes[edge.target().index()].weight;
let co_parent1: Option<&ColliderParent> = colliders.get(handle1.0);
let (co_changes1, co_groups1, co_shape1, co_pos1): (
let (co_changes1, co_groups1, co_shape1, co_pos1, co_material1): (
&ColliderChanges,
&ColliderGroups,
&ColliderShape,
&ColliderPosition,
&ColliderMaterial,
) = colliders.index_bundle(handle1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(handle2.0);
let (co_changes2, co_groups2, co_shape2, co_pos2): (
let (co_changes2, co_groups2, co_shape2, co_pos2, co_material2): (
&ColliderChanges,
&ColliderGroups,
&ColliderShape,
&ColliderPosition,
&ColliderMaterial,
) = colliders.index_bundle(handle2.0);
if !co_changes1.needs_narrow_phase_update() && !co_changes2.needs_narrow_phase_update()
@@ -656,6 +717,8 @@ impl NarrowPhase {
return;
}
let active_hooks = co_material1.active_hooks | co_material2.active_hooks;
if !active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR)
&& !status1.is_dynamic()
&& !status2.is_dynamic()
@@ -721,29 +784,28 @@ impl NarrowPhase {
}
let query_dispatcher = &*self.query_dispatcher;
let active_hooks = hooks.active_hooks();
// TODO: don't iterate on all the edges.
par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
let pair = &mut edge.weight;
let co_parent1: Option<&ColliderParent> = colliders.get(pair.pair.collider1.0);
let co_parent1: Option<&ColliderParent> = colliders.get(pair.collider1.0);
let (co_changes1, co_groups1, co_shape1, co_pos1, co_material1): (
&ColliderChanges,
&ColliderGroups,
&ColliderShape,
&ColliderPosition,
&ColliderMaterial,
) = colliders.index_bundle(pair.pair.collider1.0);
) = colliders.index_bundle(pair.collider1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(pair.pair.collider2.0);
let co_parent2: Option<&ColliderParent> = colliders.get(pair.collider2.0);
let (co_changes2, co_groups2, co_shape2, co_pos2, co_material2): (
&ColliderChanges,
&ColliderGroups,
&ColliderShape,
&ColliderPosition,
&ColliderMaterial,
) = colliders.index_bundle(pair.pair.collider2.0);
) = colliders.index_bundle(pair.collider2.0);
if !co_changes1.needs_narrow_phase_update() && !co_changes2.needs_narrow_phase_update()
{
@@ -785,6 +847,7 @@ impl NarrowPhase {
return;
}
let active_hooks = co_material1.active_hooks | co_material2.active_hooks;
if !active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
&& !status1.is_dynamic()
&& !status2.is_dynamic()
@@ -800,8 +863,8 @@ impl NarrowPhase {
colliders,
rigid_body1: co_parent1.map(|p| p.handle),
rigid_body2: co_parent2.map(|p| p.handle),
collider1: pair.pair.collider1,
collider2: pair.pair.collider2,
collider1: pair.collider1,
collider2: pair.collider2,
};
if let Some(solver_flags) = hooks.filter_contact_pair(&context) {
@@ -811,7 +874,7 @@ impl NarrowPhase {
return;
}
} else {
co_material1.solver_flags | co_material2.solver_flags
SolverFlags::default()
};
if !co_groups1.solver_groups.test(co_groups2.solver_groups) {
@@ -896,12 +959,7 @@ impl NarrowPhase {
}
// Apply the user-defined contact modification.
if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
&& manifold
.data
.solver_flags
.contains(SolverFlags::MODIFY_SOLVER_CONTACTS)
{
if active_hooks.contains(PhysicsHooksFlags::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;
@@ -912,8 +970,8 @@ impl NarrowPhase {
colliders,
rigid_body1: co_parent1.map(|p| p.handle),
rigid_body2: co_parent2.map(|p| p.handle),
collider1: pair.pair.collider1,
collider2: pair.pair.collider2,
collider1: pair.collider1,
collider2: pair.collider2,
manifold,
solver_contacts: &mut modifiable_solver_contacts,
normal: &mut modifiable_normal,
@@ -931,13 +989,13 @@ impl NarrowPhase {
if has_any_active_contact != pair.has_any_active_contact {
if has_any_active_contact {
events.handle_contact_event(ContactEvent::Started(
pair.pair.collider1,
pair.pair.collider2,
pair.collider1,
pair.collider2,
));
} else {
events.handle_contact_event(ContactEvent::Stopped(
pair.pair.collider1,
pair.pair.collider2,
pair.collider1,
pair.collider2,
));
}