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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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46
src/dynamics/joint/impulse_joint/impulse_joint_set.rs
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@@ -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())
{