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First round deleting the component sets.

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This commit is contained in:
Sébastien Crozet
2022-04-19 18:57:40 +02:00
committed by Sébastien Crozet
parent ee679427cd
commit 2b1374c596
36 changed files with 722 additions and 1649 deletions
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98
src/pipeline/user_changes.rs
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@@ -1,28 +1,15 @@
use crate::data::{BundleSet, ComponentSet, ComponentSetMut, ComponentSetOption};
use crate::dynamics::{
IslandManager, RigidBodyActivation, RigidBodyChanges, RigidBodyColliders, RigidBodyHandle,
RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyType,
};
use crate::geometry::{
ColliderChanges, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition,
ColliderShape,
IslandManager, RigidBodyActivation, RigidBodyChanges, RigidBodyHandle, RigidBodyIds,
RigidBodyPosition, RigidBodySet, RigidBodyType,
};
use crate::geometry::{ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet};
use parry::utils::hashmap::HashMap;
pub(crate) fn handle_user_changes_to_colliders<Bodies, Colliders>(
bodies: &mut Bodies,
colliders: &mut Colliders,
pub(crate) fn handle_user_changes_to_colliders(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
modified_colliders: &[ColliderHandle],
) where
Bodies: ComponentSet<RigidBodyPosition>
+ ComponentSet<RigidBodyColliders>
+ ComponentSetMut<RigidBodyMassProps>,
Colliders: ComponentSetMut<ColliderChanges>
+ ComponentSetMut<ColliderPosition>
+ ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderMassProps>,
{
) {
// TODO: avoid this hashmap? We could perhaps add a new flag to RigidBodyChanges to
// indicated that the mass properties need to be recomputed?
let mut mprops_to_update = HashMap::default();
@@ -30,25 +17,20 @@ pub(crate) fn handle_user_changes_to_colliders<Bodies, Colliders>(
for handle in modified_colliders {
// NOTE: we use `get` because the collider may no longer
// exist if it has been removed.
let co_changes: Option<ColliderChanges> = colliders.get(handle.0).copied();
if let Some(co_changes) = co_changes {
if co_changes.contains(ColliderChanges::PARENT) {
let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
if let Some(co_parent) = co_parent {
if let Some(co) = colliders.get(*handle) {
if co.changes.contains(ColliderChanges::PARENT) {
if let Some(co_parent) = co.parent {
let parent_pos: &RigidBodyPosition = bodies.index(co_parent.handle.0);
let new_pos = parent_pos.position * co_parent.pos_wrt_parent;
let new_changes = co_changes | ColliderChanges::POSITION;
let new_changes = co.changes | ColliderChanges::POSITION;
colliders.set_internal(handle.0, ColliderPosition(new_pos));
colliders.set_internal(handle.0, new_changes);
}
}
if co_changes.contains(ColliderChanges::SHAPE) {
let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
if let Some(co_parent) = co_parent {
if co.changes.contains(ColliderChanges::SHAPE) {
if let Some(co_parent) = co.parent {
mprops_to_update.insert(co_parent.handle, ());
}
}
@@ -56,11 +38,10 @@ pub(crate) fn handle_user_changes_to_colliders<Bodies, Colliders>(
}
for (to_update, _) in mprops_to_update {
let (rb_pos, rb_colliders): (&RigidBodyPosition, &RigidBodyColliders) =
bodies.index_bundle(to_update.0);
let position = rb_pos.position;
let rb = &bodies[to_update];
let position = rb.position();
// FIXME: remove the clone once we remove the ComponentSets.
let attached_colliders = rb_colliders.clone();
let attached_colliders = rb.colliders().clone();
bodies.map_mut_internal(to_update.0, |rb_mprops| {
rb_mprops.recompute_mass_properties_from_colliders(
@@ -72,23 +53,13 @@ pub(crate) fn handle_user_changes_to_colliders<Bodies, Colliders>(
}
}
pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
pub(crate) fn handle_user_changes_to_rigid_bodies(
mut islands: Option<&mut IslandManager>,
bodies: &mut Bodies,
colliders: &mut Colliders,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
modified_bodies: &[RigidBodyHandle],
modified_colliders: &mut Vec<ColliderHandle>,
) where
Bodies: ComponentSetMut<RigidBodyChanges>
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>
+ ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyColliders>
+ ComponentSet<RigidBodyPosition>,
Colliders: ComponentSetMut<ColliderPosition>
+ ComponentSetMut<ColliderChanges>
+ ComponentSetOption<ColliderParent>,
{
) {
enum FinalAction {
UpdateActiveKinematicSetId,
UpdateActiveDynamicSetId,
@@ -96,28 +67,23 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
for handle in modified_bodies {
let mut final_action = None;
let changes: Option<&RigidBodyChanges> = bodies.get(handle.0);
if changes.is_none() {
if !bodies.contains(*handle) {
// The body no longer exists.
continue;
}
let mut changes = *changes.unwrap();
let mut ids: RigidBodyIds = *bodies.index(handle.0);
let mut activation: RigidBodyActivation = *bodies.index(handle.0);
let (status, rb_colliders, poss): (
&RigidBodyType,
&RigidBodyColliders,
&RigidBodyPosition,
) = bodies.index_bundle(handle.0);
let rb = &bodies[handle];
let mut changes = rb.changes;
let mut ids: RigidBodyIds = rb.ids;
let mut activation: RigidBodyActivation = rb.activation;
{
// The body's status changed. We need to make sure
// it is on the correct active set.
if let Some(islands) = islands.as_deref_mut() {
if changes.contains(RigidBodyChanges::TYPE) {
match status {
match rb.status {
RigidBodyType::Dynamic => {
// Remove from the active kinematic set if it was there.
if islands.active_kinematic_set.get(ids.active_set_id) == Some(handle) {
@@ -161,9 +127,10 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
rb_colliders.update_positions(colliders, modified_colliders, &poss.position);
rb.colliders
.update_positions(colliders, modified_colliders, &rb.pos.position);
if status.is_kinematic()
if rb.is_kinematic()
&& islands.active_kinematic_set.get(ids.active_set_id) != Some(handle)
{
ids.active_set_id = islands.active_kinematic_set.len();
@@ -175,7 +142,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
// sleeping and if it is not already inside of the active set.
if changes.contains(RigidBodyChanges::SLEEP)
&& !activation.sleeping // May happen if the body was put to sleep manually.
&& status.is_dynamic() // Only dynamic bodies are in the active dynamic set.
&& rb.is_dynamic() // Only dynamic bodies are in the active dynamic set.
&& islands.active_dynamic_set.get(ids.active_set_id) != Some(handle)
{
ids.active_set_id = islands.active_dynamic_set.len(); // This will handle the case where the activation_channel contains duplicates.
@@ -186,14 +153,15 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
rb_colliders.update_positions(colliders, modified_colliders, &poss.position);
rb.colliders
.update_positions(colliders, modified_colliders, &rb.pos.position);
}
}
if changes.contains(RigidBodyChanges::DOMINANCE)
|| changes.contains(RigidBodyChanges::TYPE)
{
for handle in rb_colliders.0.iter() {
for handle in rb.colliders.0.iter() {
colliders.map_mut_internal(handle.0, |co_changes: &mut ColliderChanges| {
if !co_changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);