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First complete implementation of the hierarchical SAP.

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This commit is contained in:
Crozet Sébastien
2021-03-13 18:00:58 +01:00
parent a967ace7d4
commit 3a1502be74
18 changed files with 784 additions and 282 deletions
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8
src/geometry/collider.rs
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@@ -1,5 +1,5 @@
use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::geometry::{InteractionGroups, SharedShape, SolverFlags};
use crate::geometry::{InteractionGroups, SAPProxyIndex, SharedShape, SolverFlags};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
use parry::bounding_volume::AABB;
@@ -69,7 +69,7 @@ pub struct Collider {
pub restitution: Real,
pub(crate) collision_groups: InteractionGroups,
pub(crate) solver_groups: InteractionGroups,
pub(crate) proxy_index: usize,
pub(crate) proxy_index: SAPProxyIndex,
/// User-defined data associated to this rigid-body.
pub user_data: u128,
}
@@ -77,7 +77,7 @@ pub struct Collider {
impl Collider {
pub(crate) fn reset_internal_references(&mut self) {
self.parent = RigidBodyHandle::invalid();
self.proxy_index = crate::INVALID_USIZE;
self.proxy_index = crate::INVALID_U32;
}
/// The rigid body this collider is attached to.
@@ -597,7 +597,7 @@ impl ColliderBuilder {
parent: RigidBodyHandle::invalid(),
position: Isometry::identity(),
predicted_position: Isometry::identity(),
proxy_index: crate::INVALID_USIZE,
proxy_index: crate::INVALID_U32,
collision_groups: self.collision_groups,
solver_groups: self.solver_groups,
user_data: self.user_data,