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This commit is contained in:
Crozet Sébastien
2021-04-30 11:37:58 +02:00
parent ac8ec8e351
commit 2dfbd9ae92
16 changed files with 440 additions and 164 deletions
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32
src/geometry/collider.rs
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@@ -7,7 +7,7 @@ use crate::geometry::{
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
use na::Unit;
use parry::bounding_volume::{BoundingVolume, AABB};
use parry::bounding_volume::AABB;
use parry::shape::Shape;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -16,22 +16,21 @@ use parry::shape::Shape;
///
/// To build a new collider, use the `ColliderBuilder` structure.
pub struct Collider {
pub co_type: ColliderType,
pub co_shape: ColliderShape, // TODO ECS: this is public only for our bevy_rapier experiments.
pub co_mprops: ColliderMassProperties, // TODO ECS: this is public only for our bevy_rapier experiments.
pub co_changes: ColliderChanges, // TODO ECS: this is public only for our bevy_rapier experiments.
pub co_parent: ColliderParent, // TODO ECS: this is public only for our bevy_rapier experiments.
pub co_pos: ColliderPosition, // TODO ECS: this is public only for our bevy_rapier experiments.
pub co_material: ColliderMaterial, // TODO ECS: this is public only for our bevy_rapier experiments.
pub co_groups: ColliderGroups, // TODO ECS: this is public only for our bevy_rapier experiments.
pub co_bf_data: ColliderBroadPhaseData, // TODO ECS: this is public only for our bevy_rapier experiments.
pub(crate) co_type: ColliderType,
pub(crate) co_shape: ColliderShape,
pub(crate) co_mprops: ColliderMassProperties,
pub(crate) co_changes: ColliderChanges,
pub(crate) co_parent: ColliderParent,
pub(crate) co_pos: ColliderPosition,
pub(crate) co_material: ColliderMaterial,
pub(crate) co_groups: ColliderGroups,
pub(crate) co_bf_data: ColliderBroadPhaseData,
/// User-defined data associated to this rigid-body.
pub user_data: u128,
}
impl Collider {
// TODO ECS: exists only for our bevy_ecs tests.
pub fn reset_internal_references(&mut self) {
pub(crate) fn reset_internal_references(&mut self) {
self.co_parent.handle = RigidBodyHandle::invalid();
self.co_bf_data.proxy_index = crate::INVALID_U32;
self.co_changes = ColliderChanges::all();
@@ -140,6 +139,7 @@ impl Collider {
}
}
/// The material (friction and restitution properties) of this collider.
pub fn material(&self) -> &ColliderMaterial {
&self.co_material
}
@@ -178,11 +178,11 @@ impl Collider {
self.co_shape.compute_aabb(&self.co_pos)
}
/// Compute the axis-aligned bounding box of this collider.
/// Compute the axis-aligned bounding box of this collider moving from its current position
/// to the given `next_position`
pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> AABB {
let aabb1 = self.co_shape.compute_aabb(&self.co_pos);
let aabb2 = self.co_shape.compute_aabb(next_position);
aabb1.merged(&aabb2)
self.co_shape
.compute_swept_aabb(&self.co_pos, next_position)
}
/// Compute the local-space mass properties of this collider.

66
src/geometry/collider_components.rs
View File

@@ -44,12 +44,18 @@ bitflags::bitflags! {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Flags describing how the collider has been modified by the user.
pub struct ColliderChanges: u32 {
const MODIFIED = 1 << 0;
const PARENT = 1 << 1; // => BF & NF updates.
const POSITION = 1 << 2; // => BF & NF updates.
const GROUPS = 1 << 3; // => NF update.
const SHAPE = 1 << 4; // => BF & NF update. NF pair workspace invalidation.
const TYPE = 1 << 5; // => NF update. NF pair invalidation.
/// Flag indicating that any component of the collider has been modified.
const MODIFIED = 1 << 0;
/// Flag indicating that the `RigidBodyParent` component of the collider has been modified.
const PARENT = 1 << 1; // => BF & NF updates.
/// Flag indicating that the `RigidBodyPosition` component of the collider has been modified.
const POSITION = 1 << 2; // => BF & NF updates.
/// Flag indicating that the `RigidBodyGroups` component of the collider has been modified.
const GROUPS = 1 << 3; // => NF update.
/// Flag indicating that the `RigidBodyShape` component of the collider has been modified.
const SHAPE = 1 << 4; // => BF & NF update. NF pair workspace invalidation.
/// Flag indicating that the `RigidBodyType` component of the collider has been modified.
const TYPE = 1 << 5; // => NF update. NF pair invalidation.
}
}
@@ -60,12 +66,14 @@ impl Default for ColliderChanges {
}
impl ColliderChanges {
/// Do these changes justify a broad-phase update?
pub fn needs_broad_phase_update(self) -> bool {
self.intersects(
ColliderChanges::PARENT | ColliderChanges::POSITION | ColliderChanges::SHAPE,
)
}
/// Do these changes justify a narrow-phase update?
pub fn needs_narrow_phase_update(self) -> bool {
self.bits() > 1
}
@@ -73,12 +81,16 @@ impl ColliderChanges {
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// The type of collider.
pub enum ColliderType {
/// A collider that can generate contacts and contact events.
Solid,
/// A collider that can generate intersection and intersection events.
Sensor,
}
impl ColliderType {
/// Is this collider a sensor?
pub fn is_sensor(self) -> bool {
self == ColliderType::Sensor
}
@@ -86,6 +98,7 @@ impl ColliderType {
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Data associated to a collider that takes part to a broad-phase algorithm.
pub struct ColliderBroadPhaseData {
pub(crate) proxy_index: SAPProxyIndex,
}
@@ -98,13 +111,19 @@ impl Default for ColliderBroadPhaseData {
}
}
/// The shape of a collider.
pub type ColliderShape = SharedShape;
#[derive(Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// The mass-properties of a collider.
pub enum ColliderMassProperties {
/// `MassProperties` are computed with the help of [`SharedShape::mass_properties`].
/// The collider is given a density.
///
/// Its actual `MassProperties` are computed automatically with
/// the help of [`SharedShape::mass_properties`].
Density(Real),
/// The collider is given explicit mass-properties.
MassProperties(Box<MassProperties>),
}
@@ -115,6 +134,12 @@ impl Default for ColliderMassProperties {
}
impl ColliderMassProperties {
/// The mass-properties of this collider.
///
/// If `self` is the `Density` variant, then this computes the mass-properties based
/// on the given shape.
///
/// If `self` is the `MassProperties` variant, then this returns the stored mass-properties.
pub fn mass_properties(&self, shape: &dyn Shape) -> MassProperties {
match self {
Self::Density(density) => shape.mass_properties(*density),
@@ -125,13 +150,17 @@ impl ColliderMassProperties {
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Information about the rigid-body this collider is attached to.
pub struct ColliderParent {
/// Handle of the rigid-body this collider is attached to.
pub handle: RigidBodyHandle,
/// Const position of this collider relative to its parent rigid-body.
pub pos_wrt_parent: Isometry<Real>,
}
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// The position of a collider.
pub struct ColliderPosition(pub Isometry<Real>);
impl AsRef<Isometry<Real>> for ColliderPosition {
@@ -156,8 +185,9 @@ impl Default for ColliderPosition {
}
impl ColliderPosition {
/// The identity position.
#[must_use]
fn identity() -> Self {
pub fn identity() -> Self {
ColliderPosition(Isometry::identity())
}
}
@@ -173,8 +203,13 @@ where
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// The groups of this collider, for filtering contact and solver pairs.
pub struct ColliderGroups {
/// The groups controlling the pairs of colliders that can interact (generate
/// interaction events or contacts).
pub collision_groups: InteractionGroups,
/// The groups controlling the pairs of collider that have their contact
/// points taken into account for force computation.
pub solver_groups: InteractionGroups,
}
@@ -189,15 +224,30 @@ impl Default for ColliderGroups {
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// The constraints solver-related properties of this collider (friction, restitution, etc.)
pub struct ColliderMaterial {
/// The friction coefficient of this collider.
///
/// The greater the value, the stronger the friction forces will be.
/// Should be `>= 0`.
pub friction: Real,
/// The restitution coefficient of this collider.
///
/// Increase this value to make contacts with this collider more "bouncy".
/// Should be `>= 0` and should generally not be greater than `1` (perfectly elastic
/// collision).
pub restitution: Real,
/// The rule applied to combine the friction coefficients of two colliders in contact.
pub friction_combine_rule: CoefficientCombineRule,
/// The rule applied to combine the restitution coefficients of two colliders.
pub restitution_combine_rule: CoefficientCombineRule,
/// The solver flags attached to this collider in order to customize the way the
/// constraints solver will work with contacts involving this collider.
pub solver_flags: SolverFlags,
}
impl ColliderMaterial {
/// Creates a new collider material with the given friction and restitution coefficients.
pub fn new(friction: Real, restitution: Real) -> Self {
Self {
friction,

4
src/geometry/collider_set.rs
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@@ -197,7 +197,7 @@ impl ColliderSet {
///
/// Using this is discouraged in favor of `self.get(handle)` which does not
/// suffer form the ABA problem.
pub fn get_unknown_gen(&self, i: usize) -> Option<(&Collider, ColliderHandle)> {
pub fn get_unknown_gen(&self, i: u32) -> Option<(&Collider, ColliderHandle)> {
self.colliders
.get_unknown_gen(i)
.map(|(c, h)| (c, ColliderHandle(h)))
@@ -213,7 +213,7 @@ impl ColliderSet {
/// Using this is discouraged in favor of `self.get_mut(handle)` which does not
/// suffer form the ABA problem.
#[cfg(not(feature = "dev-remove-slow-accessors"))]
pub fn get_unknown_gen_mut(&mut self, i: usize) -> Option<(&mut Collider, ColliderHandle)> {
pub fn get_unknown_gen_mut(&mut self, i: u32) -> Option<(&mut Collider, ColliderHandle)> {
let (collider, handle) = self.colliders.get_unknown_gen_mut(i)?;
let handle = ColliderHandle(handle);
Self::mark_as_modified(handle, collider, &mut self.modified_colliders);