First round deleting the component sets.
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Sébastien Crozet
committed by
Sébastien Crozet
Sébastien Crozet
parent
ee679427cd
commit
2b1374c596
@@ -1,21 +1,18 @@
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//! Physics pipeline structures.
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use crate::counters::Counters;
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use crate::data::{BundleSet, ComponentSet, ComponentSetMut, ComponentSetOption};
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#[cfg(not(feature = "parallel"))]
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use crate::dynamics::IslandSolver;
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use crate::dynamics::{
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CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
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RigidBodyActivation, RigidBodyCcd, RigidBodyChanges, RigidBodyColliders, RigidBodyDamping,
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RigidBodyDominance, RigidBodyForces, RigidBodyHandle, RigidBodyIds, RigidBodyMassProps,
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RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
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RigidBodyColliders, RigidBodyForces, RigidBodyHandle, RigidBodyMassProps, RigidBodyPosition,
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RigidBodyType, RigidBodyVelocity,
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};
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#[cfg(feature = "parallel")]
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use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
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use crate::geometry::{
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BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
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ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition,
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ColliderShape, ColliderType, ContactManifoldIndex, NarrowPhase, ColliderMassProps
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BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
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ContactManifoldIndex, NarrowPhase,
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};
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use crate::math::{Real, Vector};
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use crate::pipeline::{EventHandler, PhysicsHooks};
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@@ -71,7 +68,7 @@ impl PhysicsPipeline {
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fn clear_modified_colliders(
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&mut self,
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colliders: &mut impl ComponentSetMut<ColliderChanges>,
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colliders: &mut ColliderSet,
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modified_colliders: &mut Vec<ColliderHandle>,
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) {
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for handle in modified_colliders.drain(..) {
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@@ -79,33 +76,20 @@ impl PhysicsPipeline {
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}
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}
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fn detect_collisions<Bodies, Colliders>(
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fn detect_collisions(
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&mut self,
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integration_parameters: &IntegrationParameters,
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islands: &mut IslandManager,
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broad_phase: &mut BroadPhase,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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modified_colliders: &[ColliderHandle],
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removed_colliders: &[ColliderHandle],
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hooks: &dyn PhysicsHooks<Bodies, Colliders>,
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hooks: &dyn PhysicsHooks,
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events: &dyn EventHandler,
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handle_user_changes: bool,
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) where
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Bodies: ComponentSetMut<RigidBodyActivation>
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+ ComponentSet<RigidBodyType>
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+ ComponentSetMut<RigidBodyIds>
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+ ComponentSet<RigidBodyDominance>,
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Colliders: ComponentSetMut<ColliderBroadPhaseData>
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+ ComponentSet<ColliderChanges>
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+ ComponentSet<ColliderPosition>
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+ ComponentSet<ColliderShape>
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+ ComponentSetOption<ColliderParent>
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+ ComponentSet<ColliderType>
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+ ComponentSet<ColliderMaterial>
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+ ComponentSet<ColliderFlags>,
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{
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) {
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self.counters.stages.collision_detection_time.resume();
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self.counters.cd.broad_phase_time.resume();
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@@ -155,28 +139,17 @@ impl PhysicsPipeline {
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self.counters.stages.collision_detection_time.pause();
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}
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fn build_islands_and_solve_velocity_constraints<Bodies, Colliders>(
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fn build_islands_and_solve_velocity_constraints(
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&mut self,
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gravity: &Vector<Real>,
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integration_parameters: &IntegrationParameters,
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islands: &mut IslandManager,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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) where
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Bodies: ComponentSetMut<RigidBodyPosition>
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+ ComponentSetMut<RigidBodyVelocity>
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+ ComponentSetMut<RigidBodyMassProps>
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+ ComponentSetMut<RigidBodyForces>
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+ ComponentSetMut<RigidBodyIds>
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+ ComponentSetMut<RigidBodyActivation>
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+ ComponentSet<RigidBodyDamping>
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+ ComponentSet<RigidBodyColliders>
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+ ComponentSet<RigidBodyType>,
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Colliders: ComponentSetOption<ColliderParent>,
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{
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) {
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self.counters.stages.island_construction_time.resume();
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islands.update_active_set_with_contacts(
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integration_parameters.dt,
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@@ -285,7 +258,7 @@ impl PhysicsPipeline {
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.par_iter_mut()
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.enumerate()
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.for_each(|(island_id, solver)| {
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let bodies: &mut Bodies =
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let bodies: &mut RigidBodySet =
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unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) };
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let manifolds: &mut Vec<&mut ContactManifold> =
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unsafe { std::mem::transmute(manifolds.load(Ordering::Relaxed)) };
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@@ -313,28 +286,16 @@ impl PhysicsPipeline {
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self.counters.stages.solver_time.pause();
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}
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fn run_ccd_motion_clamping<Bodies, Colliders>(
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fn run_ccd_motion_clamping(
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&mut self,
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integration_parameters: &IntegrationParameters,
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islands: &IslandManager,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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narrow_phase: &NarrowPhase,
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ccd_solver: &mut CCDSolver,
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events: &dyn EventHandler,
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) where
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Bodies: ComponentSetMut<RigidBodyPosition>
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+ ComponentSet<RigidBodyVelocity>
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+ ComponentSet<RigidBodyCcd>
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+ ComponentSet<RigidBodyColliders>
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+ ComponentSet<RigidBodyForces>
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+ ComponentSet<RigidBodyMassProps>,
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Colliders: ComponentSetOption<ColliderParent>
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+ ComponentSet<ColliderPosition>
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+ ComponentSet<ColliderShape>
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+ ComponentSet<ColliderType>
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+ ComponentSet<ColliderFlags>,
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{
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) {
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self.counters.ccd.toi_computation_time.start();
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// Handle CCD
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let impacts = ccd_solver.predict_impacts_at_next_positions(
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@@ -349,22 +310,13 @@ impl PhysicsPipeline {
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self.counters.ccd.toi_computation_time.pause();
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}
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fn advance_to_final_positions<Bodies, Colliders>(
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fn advance_to_final_positions(
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&mut self,
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islands: &IslandManager,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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modified_colliders: &mut Vec<ColliderHandle>,
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) where
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Bodies: ComponentSetMut<RigidBodyVelocity>
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+ ComponentSetMut<RigidBodyForces>
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+ ComponentSetMut<RigidBodyPosition>
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+ ComponentSet<RigidBodyType>
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+ ComponentSet<RigidBodyColliders>,
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Colliders: ComponentSetMut<ColliderPosition>
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+ ComponentSetMut<ColliderChanges>
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+ ComponentSetOption<ColliderParent>,
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{
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) {
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// Set the rigid-bodies and kinematic bodies to their final position.
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for handle in islands.iter_active_bodies() {
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bodies.map_mut_internal(handle.0, |poss: &mut RigidBodyPosition| {
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@@ -377,17 +329,12 @@ impl PhysicsPipeline {
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}
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}
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fn interpolate_kinematic_velocities<Bodies>(
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fn interpolate_kinematic_velocities(
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&mut self,
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integration_parameters: &IntegrationParameters,
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islands: &IslandManager,
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bodies: &mut Bodies,
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) where
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Bodies: ComponentSetMut<RigidBodyVelocity>
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+ ComponentSetMut<RigidBodyPosition>
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+ ComponentSet<RigidBodyType>
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+ ComponentSet<RigidBodyMassProps>,
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{
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bodies: &mut RigidBodySet,
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) {
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// Update kinematic bodies velocities.
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// TODO: what is the best place for this? It should at least be
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// located before the island computation because we test the velocity
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@@ -440,7 +387,7 @@ impl PhysicsPipeline {
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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ccd_solver: &mut CCDSolver,
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hooks: &dyn PhysicsHooks<RigidBodySet, ColliderSet>,
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hooks: &dyn PhysicsHooks,
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events: &dyn EventHandler,
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) {
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let mut modified_bodies = bodies.take_modified();
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@@ -467,46 +414,24 @@ impl PhysicsPipeline {
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}
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/// Executes one timestep of the physics simulation.
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pub fn step_generic<Bodies, Colliders>(
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pub fn step_generic(
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&mut self,
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gravity: &Vector<Real>,
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integration_parameters: &IntegrationParameters,
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islands: &mut IslandManager,
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broad_phase: &mut BroadPhase,
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narrow_phase: &mut NarrowPhase,
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bodies: &mut Bodies,
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colliders: &mut Colliders,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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modified_bodies: &mut Vec<RigidBodyHandle>,
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modified_colliders: &mut Vec<ColliderHandle>,
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removed_colliders: &mut Vec<ColliderHandle>,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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ccd_solver: &mut CCDSolver,
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hooks: &dyn PhysicsHooks<Bodies, Colliders>,
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hooks: &dyn PhysicsHooks,
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events: &dyn EventHandler,
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) where
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Bodies: ComponentSetMut<RigidBodyPosition>
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+ ComponentSetMut<RigidBodyVelocity>
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+ ComponentSetMut<RigidBodyMassProps>
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+ ComponentSetMut<RigidBodyIds>
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+ ComponentSetMut<RigidBodyForces>
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+ ComponentSetMut<RigidBodyActivation>
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+ ComponentSetMut<RigidBodyChanges>
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+ ComponentSetMut<RigidBodyCcd>
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+ ComponentSet<RigidBodyColliders>
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+ ComponentSet<RigidBodyDamping>
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+ ComponentSet<RigidBodyDominance>
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+ ComponentSet<RigidBodyType>,
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Colliders: ComponentSetMut<ColliderBroadPhaseData>
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+ ComponentSetMut<ColliderChanges>
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+ ComponentSetMut<ColliderPosition>
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+ ComponentSet<ColliderShape>
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+ ComponentSetOption<ColliderParent>
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+ ComponentSet<ColliderType>
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+ ComponentSet<ColliderMaterial>
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+ ComponentSet<ColliderFlags>
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+ ComponentSet<ColliderMassProps>,
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{
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) {
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self.counters.reset();
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self.counters.step_started();
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