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feat: add a BroadPhaseTrait for allowing custom broad-phases

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Sébastien Crozet
2024-03-23 14:36:27 +01:00
committed by Sébastien Crozet
parent cfb2c2c93e
commit 3d112287b9
13 changed files with 181 additions and 111 deletions
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6
src/pipeline/collision_pipeline.rs
View File

@@ -2,8 +2,8 @@
use crate::dynamics::{ImpulseJointSet, MultibodyJointSet};
use crate::geometry::{
BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
NarrowPhase,
BroadPhase, BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle,
ColliderPair, NarrowPhase,
};
use crate::math::Real;
use crate::pipeline::{EventHandler, PhysicsHooks, QueryPipeline};
@@ -44,7 +44,7 @@ impl CollisionPipeline {
fn detect_collisions(
&mut self,
prediction_distance: Real,
broad_phase: &mut BroadPhaseMultiSap,
broad_phase: &mut dyn BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,

6
src/pipeline/physics_pipeline.rs
View File

@@ -10,7 +10,7 @@ use crate::dynamics::{
RigidBodyChanges, RigidBodyHandle, RigidBodyPosition, RigidBodyType,
};
use crate::geometry::{
BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
ContactManifoldIndex, NarrowPhase, TemporaryInteractionIndex,
};
use crate::math::{Real, Vector};
@@ -93,7 +93,7 @@ impl PhysicsPipeline {
&mut self,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhaseMultiSap,
broad_phase: &mut dyn BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -406,7 +406,7 @@ impl PhysicsPipeline {
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhaseMultiSap,
broad_phase: &mut dyn BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,