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Allow disabling colliders, rigid-bodies and impulse joints

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This commit is contained in:
Sébastien Crozet
2022-11-19 16:05:46 +01:00
parent c600549aac
commit 46d976d97b
15 changed files with 408 additions and 107 deletions
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7
src/dynamics/island_manager.rs
View File

@@ -98,7 +98,8 @@ impl IslandManager {
let rb = bodies.index_mut_internal(handle);
rb.activation.wake_up(strong);
if self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle) {
if rb.is_enabled() && self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle)
{
rb.ids.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
}
@@ -256,12 +257,12 @@ impl IslandManager {
// in contact or joined with this collider.
push_contacting_bodies(&rb.colliders, colliders, narrow_phase, &mut self.stack);
for inter in impulse_joints.attached_joints(handle) {
for inter in impulse_joints.attached_enabled_joints(handle) {
let other = crate::utils::select_other((inter.0, inter.1), handle);
self.stack.push(other);
}
for other in multibody_joints.attached_bodies(handle) {
for other in multibody_joints.bodies_attached_with_enabled_joint(handle) {
self.stack.push(other);
}

38
src/dynamics/joint/generic_joint.rs
View File

@@ -5,6 +5,7 @@ use crate::utils::{WBasis, WReal};
#[cfg(feature = "dim3")]
use crate::dynamics::SphericalJoint;
use crate::geometry::ColliderEnabled;
#[cfg(feature = "dim3")]
bitflags::bitflags! {
@@ -182,6 +183,19 @@ impl JointMotor {
}
}
#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Enum indicating whether or not a joint is enabled.
pub enum JointEnabled {
/// The joint is enabled.
Enabled,
/// The joint wasn’t disabled by the user explicitly but it is attached to
/// a disabled rigid-body.
DisabledByAttachedBody,
/// The joint is disabled by the user explicitly.
Disabled,
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
/// A generic joint.
@@ -208,6 +222,8 @@ pub struct GenericJoint {
pub motors: [JointMotor; SPATIAL_DIM],
/// Are contacts between the attached rigid-bodies enabled?
pub contacts_enabled: bool,
/// Whether or not the joint is enabled.
pub enabled: JointEnabled,
}
impl Default for GenericJoint {
@@ -222,6 +238,7 @@ impl Default for GenericJoint {
limits: [JointLimits::default(); SPATIAL_DIM],
motors: [JointMotor::default(); SPATIAL_DIM],
contacts_enabled: true,
enabled: JointEnabled::Enabled,
}
}
}
@@ -260,6 +277,27 @@ impl GenericJoint {
}
}
/// Is this joint enabled?
pub fn is_enabled(&self) -> bool {
self.enabled == JointEnabled::Enabled
}
/// Set whether this joint is enabled or not.
pub fn set_enabled(&mut self, enabled: bool) {
match self.enabled {
JointEnabled::Enabled | JointEnabled::DisabledByAttachedBody => {
if !enabled {
self.enabled = JointEnabled::Disabled;
}
}
JointEnabled::Disabled => {
if enabled {
self.enabled = JointEnabled::Enabled;
}
}
}
}
/// Add the specified axes to the set of axes locked by this joint.
pub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut Self {
self.locked_axes |= axes;

46
src/dynamics/joint/impulse_joint/impulse_joint_set.rs
View File

@@ -72,11 +72,11 @@ impl ImpulseJointSet {
}
/// Iterates through all the joints between two rigid-bodies.
pub fn joints_between<'a>(
&'a self,
pub fn joints_between(
&self,
body1: RigidBodyHandle,
body2: RigidBodyHandle,
) -> impl Iterator<Item = (ImpulseJointHandle, &'a ImpulseJoint)> {
) -> impl Iterator<Item = (ImpulseJointHandle, &ImpulseJoint)> {
self.rb_graph_ids
.get(body1.0)
.zip(self.rb_graph_ids.get(body2.0))
@@ -86,15 +86,15 @@ impl ImpulseJointSet {
}
/// Iterates through all the impulse joints attached to the given rigid-body.
pub fn attached_joints<'a>(
&'a self,
pub fn attached_joints(
&self,
body: RigidBodyHandle,
) -> impl Iterator<
Item = (
RigidBodyHandle,
RigidBodyHandle,
ImpulseJointHandle,
&'a ImpulseJoint,
&ImpulseJoint,
),
> {
self.rb_graph_ids
@@ -104,6 +104,35 @@ impl ImpulseJointSet {
.map(|inter| (inter.0, inter.1, inter.2.handle, inter.2))
}
/// Iterates through all the impulse joints attached to the given rigid-body.
pub fn map_attached_joints_mut<'a>(
&'a mut self,
body: RigidBodyHandle,
mut f: impl FnMut(RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &mut ImpulseJoint),
) {
self.rb_graph_ids.get(body.0).into_iter().for_each(|id| {
for inter in self.joint_graph.interactions_with_mut(*id) {
(f)(inter.0, inter.1, inter.3.handle, inter.3)
}
})
}
/// Iterates through all the enabled impulse joints attached to the given rigid-body.
pub fn attached_enabled_joints(
&self,
body: RigidBodyHandle,
) -> impl Iterator<
Item = (
RigidBodyHandle,
RigidBodyHandle,
ImpulseJointHandle,
&ImpulseJoint,
),
> {
self.attached_joints(body)
.filter(|inter| inter.3.data.is_enabled())
}
/// Is the given joint handle valid?
pub fn contains(&self, handle: ImpulseJointHandle) -> bool {
self.joint_ids.contains(handle.0)
@@ -246,7 +275,7 @@ impl ImpulseJointSet {
ImpulseJointHandle(handle)
}
/// Retrieve all the impulse_joints happening between two active bodies.
/// Retrieve all the enabled impulse joints happening between two active bodies.
// NOTE: this is very similar to the code from NarrowPhase::select_active_interactions.
pub(crate) fn select_active_interactions(
&self,
@@ -264,7 +293,8 @@ impl ImpulseJointSet {
let rb1 = &bodies[joint.body1];
let rb2 = &bodies[joint.body2];
if (rb1.is_dynamic() || rb2.is_dynamic())
if joint.data.is_enabled()
&& (rb1.is_dynamic() || rb2.is_dynamic())
&& (!rb1.is_dynamic() || !rb1.is_sleeping())
&& (!rb2.is_dynamic() || !rb2.is_sleeping())
{

17
src/dynamics/joint/multibody_joint/multibody_joint_set.rs
View File

@@ -372,7 +372,7 @@ impl MultibodyJointSet {
}
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by an multibody_joint.
/// by a multibody_joint.
pub fn attached_bodies<'a>(
&'a self,
body: RigidBodyHandle,
@@ -384,6 +384,21 @@ impl MultibodyJointSet {
.map(move |inter| crate::utils::select_other((inter.0, inter.1), body))
}
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by an enabled multibody_joint.
pub fn bodies_attached_with_enabled_joint<'a>(
&'a self,
body: RigidBodyHandle,
) -> impl Iterator<Item = RigidBodyHandle> + 'a {
self.attached_bodies(body).filter(move |other| {
if let Some((_, _, link)) = self.joint_between(body, *other) {
link.joint.data.is_enabled()
} else {
false
}
})
}
/// Iterates through all the multibodies on this set.
pub fn multibodies(&self) -> impl Iterator<Item = &Multibody> {
self.multibodies.iter().map(|e| e.1)

34
src/dynamics/rigid_body.rs
View File

@@ -35,6 +35,7 @@ pub struct RigidBody {
pub(crate) body_type: RigidBodyType,
/// The dominance group this rigid-body is part of.
pub(crate) dominance: RigidBodyDominance,
pub(crate) enabled: bool,
/// User-defined data associated to this rigid-body.
pub user_data: u128,
}
@@ -61,6 +62,7 @@ impl RigidBody {
changes: RigidBodyChanges::all(),
body_type: RigidBodyType::Dynamic,
dominance: RigidBodyDominance::default(),
enabled: true,
user_data: 0,
}
}
@@ -81,6 +83,28 @@ impl RigidBody {
&mut self.activation
}
/// Is this rigid-body enabled?
pub fn is_enabled(&self) -> bool {
self.enabled
}
/// Sets whether this rigid-body is enabled or not.
pub fn set_enabled(&mut self, enabled: bool) {
if enabled != self.enabled {
if enabled {
// NOTE: this is probably overkill, but it makes sure we don’t
// forget anything that needs to be updated because the rigid-body
// was basically interpreted as if it was removed while it was
// disabled.
self.changes = RigidBodyChanges::all();
} else {
self.changes |= RigidBodyChanges::ENABLED_OR_DISABLED;
}
self.enabled = enabled;
}
}
/// The linear damping coefficient of this rigid-body.
#[inline]
pub fn linear_damping(&self) -> Real {
@@ -963,6 +987,8 @@ pub struct RigidBodyBuilder {
pub ccd_enabled: bool,
/// The dominance group of the rigid-body to be built.
pub dominance_group: i8,
/// Will the rigid-body being built be enabled?
pub enabled: bool,
/// An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.
pub user_data: u128,
}
@@ -984,6 +1010,7 @@ impl RigidBodyBuilder {
sleeping: false,
ccd_enabled: false,
dominance_group: 0,
enabled: true,
user_data: 0,
}
}
@@ -1230,6 +1257,12 @@ impl RigidBodyBuilder {
self
}
/// Enable or disable the rigid-body after its creation.
pub fn enabled(mut self, enabled: bool) -> Self {
self.enabled = enabled;
self
}
/// Build a new rigid-body with the parameters configured with this builder.
pub fn build(&self) -> RigidBody {
let mut rb = RigidBody::new();
@@ -1252,6 +1285,7 @@ impl RigidBodyBuilder {
rb.damping.angular_damping = self.angular_damping;
rb.forces.gravity_scale = self.gravity_scale;
rb.dominance = RigidBodyDominance(self.dominance_group);
rb.enabled = self.enabled;
rb.enable_ccd(self.ccd_enabled);
if self.can_sleep && self.sleeping {

16
src/dynamics/rigid_body_components.rs
View File

@@ -112,6 +112,8 @@ bitflags::bitflags! {
const DOMINANCE = 1 << 5;
/// Flag indicating that the local mass-properties of this rigid-body must be recomputed.
const LOCAL_MASS_PROPERTIES = 1 << 6;
/// Flag indicating that the rigid-body was enabled or disabled.
const ENABLED_OR_DISABLED = 1 << 7;
}
}
@@ -329,12 +331,14 @@ impl RigidBodyMassProps {
for handle in &attached_colliders.0 {
if let Some(co) = colliders.get(*handle) {
if let Some(co_parent) = co.parent {
let to_add = co
.mprops
.mass_properties(&*co.shape)
.transform_by(&co_parent.pos_wrt_parent);
self.local_mprops += to_add;
if co.is_enabled() {
if let Some(co_parent) = co.parent {
let to_add = co
.mprops
.mass_properties(&*co.shape)
.transform_by(&co_parent.pos_wrt_parent);
self.local_mprops += to_add;
}
}
}
}