nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Allow disabling colliders, rigid-bodies and impulse joints

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

16
src/geometry/broad_phase_multi_sap/broad_phase.rs
View File

@@ -176,7 +176,11 @@ impl BroadPhase {
/// This method will actually remove from the proxy list all the proxies
/// marked as deletable by `self.predelete_proxy`, making their proxy
/// handles re-usable by new proxies.
fn complete_removals(&mut self, removed_colliders: &[ColliderHandle]) {
fn complete_removals(
&mut self,
colliders: &mut ColliderSet,
removed_colliders: &[ColliderHandle],
) {
// If there is no layer, there is nothing to remove.
if self.layers.is_empty() {
return;
@@ -224,6 +228,11 @@ impl BroadPhase {
self.proxies.remove(proxy_id);
}
}
if let Some(co) = colliders.get_mut_internal(*removed) {
// Reset the proxy index.
co.bf_data.proxy_index = crate::INVALID_U32;
}
}
}
@@ -460,9 +469,10 @@ impl BroadPhase {
// NOTE: we use `get` because the collider may no longer
// exist if it has been removed.
if let Some(co) = colliders.get_mut_internal(*handle) {
if !co.changes.needs_broad_phase_update() {
if !co.is_enabled() || !co.changes.needs_broad_phase_update() {
continue;
}
let mut new_proxy_id = co.bf_data.proxy_index;
if self.handle_modified_collider(
@@ -496,7 +506,7 @@ impl BroadPhase {
// Phase 5: bottom-up pass to remove proxies, and propagate region removed from smaller
// layers to possible remove regions from larger layers that would become empty that way.
self.complete_removals(removed_colliders);
self.complete_removals(colliders, removed_colliders);
}
/// Propagate regions from the smallest layers up to the larger layers.

41
src/geometry/collider.rs
View File

@@ -7,6 +7,7 @@ use crate::geometry::{
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
use crate::pipeline::{ActiveEvents, ActiveHooks};
use crate::prelude::ColliderEnabled;
use na::Unit;
use parry::bounding_volume::Aabb;
use parry::shape::{Shape, TriMeshFlags};
@@ -154,6 +155,32 @@ impl Collider {
}
}
/// Is this collider enabled?
pub fn is_enabled(&self) -> bool {
match self.flags.enabled {
ColliderEnabled::Enabled => true,
_ => false,
}
}
/// Sets whether or not this collider is enabled.
pub fn set_enabled(&mut self, enabled: bool) {
match self.flags.enabled {
ColliderEnabled::Enabled | ColliderEnabled::DisabledByParent => {
if !enabled {
self.changes.insert(ColliderChanges::ENABLED_OR_DISABLED);
self.flags.enabled = ColliderEnabled::Disabled;
}
}
ColliderEnabled::Disabled => {
if enabled {
self.changes.insert(ColliderChanges::ENABLED_OR_DISABLED);
self.flags.enabled = ColliderEnabled::Enabled;
}
}
}
}
/// Sets the translational part of this collider's position.
pub fn set_translation(&mut self, translation: Vector<Real>) {
self.changes.insert(ColliderChanges::POSITION);
@@ -402,6 +429,8 @@ pub struct ColliderBuilder {
pub collision_groups: InteractionGroups,
/// The solver groups for the collider being built.
pub solver_groups: InteractionGroups,
/// Will the collider being built be enabled?
pub enabled: bool,
/// The total force magnitude beyond which a contact force event can be emitted.
pub contact_force_event_threshold: Real,
}
@@ -424,6 +453,7 @@ impl ColliderBuilder {
active_collision_types: ActiveCollisionTypes::default(),
active_hooks: ActiveHooks::empty(),
active_events: ActiveEvents::empty(),
enabled: true,
contact_force_event_threshold: 0.0,
}
}
@@ -834,6 +864,12 @@ impl ColliderBuilder {
self
}
/// Enable or disable the collider after its creation.
pub fn enabled(mut self, enabled: bool) -> Self {
self.enabled = enabled;
self
}
/// Builds a new collider attached to the given rigid-body.
pub fn build(&self) -> Collider {
let shape = self.shape.clone();
@@ -849,6 +885,11 @@ impl ColliderBuilder {
active_collision_types: self.active_collision_types,
active_hooks: self.active_hooks,
active_events: self.active_events,
enabled: if self.enabled {
ColliderEnabled::Enabled
} else {
ColliderEnabled::Disabled
},
};
let changes = ColliderChanges::all();
let pos = ColliderPosition(self.position);

18
src/geometry/collider_components.rs
View File

@@ -64,6 +64,8 @@ bitflags::bitflags! {
/// This flags is automatically set by the `PhysicsPipeline` when the `RigidBodyChanges::DOMINANCE`
/// or `RigidBodyChanges::TYPE` of the parent rigid-body of this collider is detected.
const PARENT_EFFECTIVE_DOMINANCE = 1 << 7; // NF update.
/// Flag indicating that whether or not the collider is enabled was changed.
const ENABLED_OR_DISABLED = 1 << 8; // BF & NF updates.
}
}
@@ -372,6 +374,19 @@ impl Default for ActiveCollisionTypes {
}
}
#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Enum indicating whether or not a collider is enabled.
pub enum ColliderEnabled {
/// The collider is enabled.
Enabled,
/// The collider wasn’t disabled by the user explicitly but it is attached to
/// a disabled rigid-body.
DisabledByParent,
/// The collider is disabled by the user explicitly.
Disabled,
}
#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A set of flags for controlling collision/intersection filtering, modification, and events.
@@ -389,6 +404,8 @@ pub struct ColliderFlags {
pub active_hooks: ActiveHooks,
/// The events enabled for this collider.
pub active_events: ActiveEvents,
/// Whether or not the collider is enabled.
pub enabled: ColliderEnabled,
}
impl Default for ColliderFlags {
@@ -399,6 +416,7 @@ impl Default for ColliderFlags {
solver_groups: InteractionGroups::all(),
active_hooks: ActiveHooks::empty(),
active_events: ActiveEvents::empty(),
enabled: ColliderEnabled::Enabled,
}
}
}

25
src/geometry/collider_set.rs
View File

@@ -41,6 +41,14 @@ impl ColliderSet {
self.colliders.iter().map(|(h, c)| (ColliderHandle(h), c))
}
/// Iterate through all the enabled colliders on this set.
pub fn iter_enabled(&self) -> impl Iterator<Item = (ColliderHandle, &Collider)> {
self.colliders
.iter()
.map(|(h, c)| (ColliderHandle(h), c))
.filter(|(_, c)| c.is_enabled())
}
/// Iterates mutably through all the colliders on this set.
#[cfg(not(feature = "dev-remove-slow-accessors"))]
pub fn iter_mut(&mut self) -> impl Iterator<Item = (ColliderHandle, &mut Collider)> {
@@ -52,6 +60,12 @@ impl ColliderSet {
})
}
/// Iterates mutably through all the enabled colliders on this set.
#[cfg(not(feature = "dev-remove-slow-accessors"))]
pub fn iter_enabled_mut(&mut self) -> impl Iterator<Item = (ColliderHandle, &mut Collider)> {
self.iter_mut().filter(|(_, c)| c.is_enabled())
}
/// The number of colliders on this set.
pub fn len(&self) -> usize {
self.colliders.len()
@@ -268,6 +282,17 @@ impl ColliderSet {
pub(crate) fn get_mut_internal(&mut self, handle: ColliderHandle) -> Option<&mut Collider> {
self.colliders.get_mut(handle.0)
}
// Just a very long name instead of `.get_mut` to make sure
// this is really the method we wanted to use instead of `get_mut_internal`.
pub(crate) fn get_mut_internal_with_modification_tracking(
&mut self,
handle: ColliderHandle,
) -> Option<&mut Collider> {
let result = self.colliders.get_mut(handle.0)?;
Self::mark_as_modified(handle, result, &mut self.modified_colliders);
Some(result)
}
}
impl Index<crate::data::Index> for ColliderSet {