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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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11
src/pipeline/collision_pipeline.rs
View File

@@ -127,9 +127,20 @@ impl CollisionPipeline {
None,
bodies,
colliders,
&mut ImpulseJointSet::new(),
&mut MultibodyJointSet::new(),
&modified_bodies,
&mut modified_colliders,
);
// Disabled colliders are treated as if they were removed.
removed_colliders.extend(
modified_colliders
.iter()
.copied()
.filter(|h| colliders.get(*h).map(|c| !c.is_enabled()).unwrap_or(false)),
);
self.detect_collisions(
prediction_distance,
broad_phase,

13
src/pipeline/physics_pipeline.rs
View File

@@ -422,6 +422,7 @@ impl PhysicsPipeline {
// Apply modifications.
let mut modified_colliders = colliders.take_modified();
let mut removed_colliders = colliders.take_removed();
super::user_changes::handle_user_changes_to_colliders(
bodies,
colliders,
@@ -433,10 +434,22 @@ impl PhysicsPipeline {
Some(islands),
bodies,
colliders,
impulse_joints,
multibody_joints,
&modified_bodies,
&mut modified_colliders,
);
// Disabled colliders are treated as if they were removed.
// NOTE: this must be called here, after handle_user_changes_to_rigid_bodies to take into
// account colliders disabled because of their parent rigid-body.
removed_colliders.extend(
modified_colliders
.iter()
.copied()
.filter(|h| colliders.get(*h).map(|c| !c.is_enabled()).unwrap_or(false)),
);
// TODO: do this only on user-change.
// TODO: do we want some kind of automatic inverse kinematics?
for multibody in &mut multibody_joints.multibodies {

6
src/pipeline/query_pipeline.rs
View File

@@ -358,12 +358,12 @@ impl QueryPipeline {
fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
match self.mode {
QueryPipelineMode::CurrentPosition => {
for (h, co) in self.colliders.iter() {
for (h, co) in self.colliders.iter_enabled() {
f(h, co.shape.compute_aabb(&co.pos))
}
}
QueryPipelineMode::SweepTestWithNextPosition => {
for (h, co) in self.colliders.iter() {
for (h, co) in self.colliders.iter_enabled() {
if let Some(co_parent) = co.parent {
let rb_next_pos = &self.bodies[co_parent.handle].pos.next_position;
let next_position = rb_next_pos * co_parent.pos_wrt_parent;
@@ -374,7 +374,7 @@ impl QueryPipeline {
}
}
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
for (h, co) in self.colliders.iter() {
for (h, co) in self.colliders.iter_enabled() {
if let Some(co_parent) = co.parent {
let rb = &self.bodies[co_parent.handle];
let predicted_pos = rb.pos.integrate_forces_and_velocities(

225
src/pipeline/user_changes.rs
View File

@@ -1,7 +1,10 @@
use crate::dynamics::{
IslandManager, RigidBodyChanges, RigidBodyHandle, RigidBodySet, RigidBodyType,
ImpulseJointSet, IslandManager, JointEnabled, MultibodyJointSet, RigidBodyChanges,
RigidBodyHandle, RigidBodySet, RigidBodyType,
};
use crate::geometry::{
ColliderChanges, ColliderEnabled, ColliderHandle, ColliderPosition, ColliderSet,
};
use crate::geometry::{ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet};
pub(crate) fn handle_user_changes_to_colliders(
bodies: &mut RigidBodySet,
@@ -21,10 +24,12 @@ pub(crate) fn handle_user_changes_to_colliders(
}
}
if co
.changes
.intersects(ColliderChanges::SHAPE | ColliderChanges::LOCAL_MASS_PROPERTIES)
{
if co.changes.intersects(
ColliderChanges::SHAPE
| ColliderChanges::LOCAL_MASS_PROPERTIES
| ColliderChanges::ENABLED_OR_DISABLED
| ColliderChanges::PARENT,
) {
if let Some(rb) = co
.parent
.and_then(|p| bodies.get_mut_internal_with_modification_tracking(p.handle))
@@ -40,12 +45,15 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
mut islands: Option<&mut IslandManager>,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
modified_bodies: &[RigidBodyHandle],
modified_colliders: &mut Vec<ColliderHandle>,
) {
enum FinalAction {
UpdateActiveKinematicSetId,
UpdateActiveDynamicSetId,
UpdateActiveKinematicSetId(usize),
UpdateActiveDynamicSetId(usize),
RemoveFromIsland,
}
for handle in modified_bodies {
@@ -62,89 +70,95 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
let mut activation = rb.activation;
{
// The body's status changed. We need to make sure
// it is on the correct active set.
if let Some(islands) = islands.as_deref_mut() {
if changes.contains(RigidBodyChanges::TYPE) {
match rb.body_type {
RigidBodyType::Dynamic => {
// Remove from the active kinematic set if it was there.
if islands.active_kinematic_set.get(ids.active_set_id) == Some(handle) {
islands.active_kinematic_set.swap_remove(ids.active_set_id);
final_action = Some((
FinalAction::UpdateActiveKinematicSetId,
ids.active_set_id,
));
}
if rb.is_enabled() {
// The body's status changed. We need to make sure
// it is on the correct active set.
if let Some(islands) = islands.as_deref_mut() {
if changes.contains(RigidBodyChanges::TYPE) {
match rb.body_type {
RigidBodyType::Dynamic => {
// Remove from the active kinematic set if it was there.
if islands.active_kinematic_set.get(ids.active_set_id)
== Some(handle)
{
islands.active_kinematic_set.swap_remove(ids.active_set_id);
final_action = Some(FinalAction::UpdateActiveKinematicSetId(
ids.active_set_id,
));
}
// Add to the active dynamic set.
activation.wake_up(true);
// Make sure the sleep change flag is set (even if for some
// reasons the rigid-body was already awake) to make
// sure the code handling sleeping change adds the body to
// the active_dynamic_set.
changes.set(RigidBodyChanges::SLEEP, true);
}
RigidBodyType::KinematicVelocityBased
| RigidBodyType::KinematicPositionBased => {
// Remove from the active dynamic set if it was there.
if islands.active_dynamic_set.get(ids.active_set_id) == Some(handle) {
islands.active_dynamic_set.swap_remove(ids.active_set_id);
final_action = Some((
FinalAction::UpdateActiveDynamicSetId,
ids.active_set_id,
));
// Add to the active dynamic set.
activation.wake_up(true);
// Make sure the sleep change flag is set (even if for some
// reasons the rigid-body was already awake) to make
// sure the code handling sleeping change adds the body to
// the active_dynamic_set.
changes.set(RigidBodyChanges::SLEEP, true);
}
RigidBodyType::KinematicVelocityBased
| RigidBodyType::KinematicPositionBased => {
// Remove from the active dynamic set if it was there.
if islands.active_dynamic_set.get(ids.active_set_id) == Some(handle)
{
islands.active_dynamic_set.swap_remove(ids.active_set_id);
final_action = Some(FinalAction::UpdateActiveDynamicSetId(
ids.active_set_id,
));
}
// Add to the active kinematic set.
if islands.active_kinematic_set.get(ids.active_set_id) != Some(handle) {
ids.active_set_id = islands.active_kinematic_set.len();
islands.active_kinematic_set.push(*handle);
// Add to the active kinematic set.
if islands.active_kinematic_set.get(ids.active_set_id)
!= Some(handle)
{
ids.active_set_id = islands.active_kinematic_set.len();
islands.active_kinematic_set.push(*handle);
}
}
RigidBodyType::Fixed => {}
}
RigidBodyType::Fixed => {}
}
}
// Update the positions of the colliders.
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
rb.colliders
.update_positions(colliders, modified_colliders, &rb.pos.position);
if rb.is_kinematic()
&& islands.active_kinematic_set.get(ids.active_set_id) != Some(handle)
// Update the active kinematic set.
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
ids.active_set_id = islands.active_kinematic_set.len();
islands.active_kinematic_set.push(*handle);
if rb.is_kinematic()
&& islands.active_kinematic_set.get(ids.active_set_id) != Some(handle)
{
ids.active_set_id = islands.active_kinematic_set.len();
islands.active_kinematic_set.push(*handle);
}
}
// Push the body to the active set if it is not
// sleeping and if it is not already inside of the active set.
if changes.contains(RigidBodyChanges::SLEEP)
&& rb.is_enabled()
&& !activation.sleeping // May happen if the body was put to sleep manually.
&& rb.is_dynamic() // Only dynamic bodies are in the active dynamic set.
&& islands.active_dynamic_set.get(ids.active_set_id) != Some(handle)
{
ids.active_set_id = islands.active_dynamic_set.len(); // This will handle the case where the activation_channel contains duplicates.
islands.active_dynamic_set.push(*handle);
}
}
}
// Push the body to the active set if it is not
// sleeping and if it is not already inside of the active set.
if changes.contains(RigidBodyChanges::SLEEP)
&& !activation.sleeping // May happen if the body was put to sleep manually.
&& rb.is_dynamic() // Only dynamic bodies are in the active dynamic set.
&& islands.active_dynamic_set.get(ids.active_set_id) != Some(handle)
{
ids.active_set_id = islands.active_dynamic_set.len(); // This will handle the case where the activation_channel contains duplicates.
islands.active_dynamic_set.push(*handle);
}
} else {
// We don't use islands. So just update the colliders' positions.
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
rb.colliders
.update_positions(colliders, modified_colliders, &rb.pos.position);
}
// Update the colliders' positions.
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
rb.colliders
.update_positions(colliders, modified_colliders, &rb.pos.position);
}
if changes.contains(RigidBodyChanges::DOMINANCE)
|| changes.contains(RigidBodyChanges::TYPE)
{
for handle in rb.colliders.0.iter() {
// NOTE: we can’t just use `colliders.get_mut_internal_with_modification_tracking`
// here because that would modify the `modified_colliders` inside of the `ColliderSet`
// instead of the one passed to this method.
let co = colliders.index_mut_internal(*handle);
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
@@ -165,6 +179,43 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
);
}
if changes.contains(RigidBodyChanges::ENABLED_OR_DISABLED) {
// Propagate the rigid-body’s enabled/disable status to its colliders.
for handle in rb.colliders.0.iter() {
// NOTE: we can’t just use `colliders.get_mut_internal_with_modification_tracking`
// here because that would modify the `modified_colliders` inside of the `ColliderSet`
// instead of the one passed to this method.
let co = colliders.index_mut_internal(*handle);
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
if rb.enabled && co.flags.enabled == ColliderEnabled::DisabledByParent {
co.flags.enabled = ColliderEnabled::Enabled;
} else if !rb.enabled && co.flags.enabled == ColliderEnabled::Enabled {
co.flags.enabled = ColliderEnabled::DisabledByParent;
}
co.changes |= ColliderChanges::MODIFIED | ColliderChanges::ENABLED_OR_DISABLED;
}
// Propagate the rigid-body’s enabled/disable status to its attached impulse joints.
impulse_joints.map_attached_joints_mut(*handle, |_, _, _, joint| {
if rb.enabled && joint.data.enabled == JointEnabled::DisabledByAttachedBody {
joint.data.enabled = JointEnabled::Enabled;
} else if !rb.enabled && joint.data.enabled == JointEnabled::Enabled {
joint.data.enabled = JointEnabled::DisabledByAttachedBody;
}
});
// FIXME: Propagate the rigid-body’s enabled/disable status to its attached multibody joints.
// Remove the rigid-body from the island manager.
if !rb.enabled {
final_action = Some(FinalAction::RemoveFromIsland);
}
}
rb.changes = RigidBodyChanges::empty();
rb.ids = ids;
rb.activation = activation;
@@ -172,15 +223,25 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
// Adjust some ids, if needed.
if let Some(islands) = islands.as_deref_mut() {
if let Some((action, id)) = final_action {
let active_set = match action {
FinalAction::UpdateActiveKinematicSetId => &mut islands.active_kinematic_set,
FinalAction::UpdateActiveDynamicSetId => &mut islands.active_dynamic_set,
if let Some(action) = final_action {
match action {
FinalAction::RemoveFromIsland => {
let ids = rb.ids;
islands.rigid_body_removed(*handle, &ids, bodies);
}
FinalAction::UpdateActiveKinematicSetId(id) => {
let active_set = &mut islands.active_kinematic_set;
if id < active_set.len() {
bodies.index_mut_internal(active_set[id]).ids.active_set_id = id;
}
}
FinalAction::UpdateActiveDynamicSetId(id) => {
let active_set = &mut islands.active_dynamic_set;
if id < active_set.len() {
bodies.index_mut_internal(active_set[id]).ids.active_set_id = id;
}
}
};
if id < active_set.len() {
bodies.index_mut_internal(active_set[id]).ids.active_set_id = id;
}
}
}
}