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Add one-way platform + conveyor belt demos.

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Crozet Sébastien
2021-02-23 15:43:43 +01:00
parent 00706e8b36
commit 4ca32a9546
3 changed files with 295 additions and 1 deletions
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138
src/geometry/pair_filter.rs
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use crate::dynamics::RigidBody;
use crate::geometry::{Collider, ColliderHandle, ContactManifold, SolverContact, SolverFlags};
/// Context given to custom collision filters to filter-out collisions.
pub struct PairFilterContext<'a> {
/// The first collider involved in the potential collision.
pub rigid_body1: &'a RigidBody,
/// The first collider involved in the potential collision.
pub rigid_body2: &'a RigidBody,
/// The first collider involved in the potential collision.
pub collider_handle1: ColliderHandle,
/// The first collider involved in the potential collision.
pub collider_handle2: ColliderHandle,
/// The first collider involved in the potential collision.
pub collider1: &'a Collider,
/// The first collider involved in the potential collision.
pub collider2: &'a Collider,
}
pub struct ContactModificationContext<'a> {
/// The first collider involved in the potential collision.
pub rigid_body1: &'a RigidBody,
/// The first collider involved in the potential collision.
pub rigid_body2: &'a RigidBody,
/// The first collider involved in the potential collision.
pub collider_handle1: ColliderHandle,
/// The first collider involved in the potential collision.
pub collider_handle2: ColliderHandle,
/// The first collider involved in the potential collision.
pub collider1: &'a Collider,
/// The first collider involved in the potential collision.
pub collider2: &'a Collider,
/// The contact manifold.
pub manifold: &'a ContactManifold,
/// The solver contacts that can be modified.
pub solver_contacts: &'a mut Vec<SolverContact>,
/// User-defined data attached to the manifold.
// NOTE: we keep this a &'a mut u32 to emphasize the
// fact that this can be modified.
pub user_data: &'a mut u32,
}
bitflags::bitflags! {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Flags affecting the behavior of the constraints solver for a given contact manifold.
pub struct PhysicsHooksFlags: u32 {
/// If set, Rapier will call `PhysicsHooks::filter_contact_pair` whenever relevant.
const FILTER_CONTACT_PAIR = 0b0001;
/// If set, Rapier will call `PhysicsHooks::filter_intersection_pair` whenever relevant.
const FILTER_INTERSECTION_PAIR = 0b0010;
/// If set, Rapier will call `PhysicsHooks::modify_solver_contact` whenever relevant.
const MODIFY_SOLVER_CONTACTS = 0b0100;
}
}
/// User-defined functions called by the physics engines during one timestep in order to customize its behavior.
pub trait PhysicsHooks: Send + Sync {
/// The sets of hooks that must be taken into account.
fn active_hooks(&self) -> PhysicsHooksFlags;
/// Applies the contact pair filter.
///
/// User-defined filter for potential contact pairs detected by the broad-phase.
/// This can be used to apply custom logic in order to decide whether two colliders
/// should have their contact computed by the narrow-phase, and if these contact
/// should be solved by the constraints solver
///
/// Note that using a contact pair filter will replace the default contact filtering
/// which consists of preventing contact computation between two non-dynamic bodies.
///
/// This filtering method is called after taking into account the colliders collision groups.
///
/// If this returns `None`, then the narrow-phase will ignore this contact pair and
/// not compute any contact manifolds for it.
/// If this returns `Some`, then the narrow-phase will compute contact manifolds for
/// this pair of colliders, and configure them with the returned solver flags. For
/// example, if this returns `Some(SolverFlags::COMPUTE_IMPULSES)` then the contacts
/// will be taken into account by the constraints solver. If this returns
/// `Some(SolverFlags::empty())` then the constraints solver will ignore these
/// contacts.
fn filter_contact_pair(&self, context: &PairFilterContext) -> Option<SolverFlags>;
/// Applies the intersection pair filter.
///
/// User-defined filter for potential intersection pairs detected by the broad-phase.
///
/// This can be used to apply custom logic in order to decide whether two colliders
/// should have their intersection computed by the narrow-phase.
///
/// Note that using an intersection pair filter will replace the default intersection filtering
/// which consists of preventing intersection computation between two non-dynamic bodies.
///
/// This filtering method is called after taking into account the colliders collision groups.
///
/// If this returns `false`, then the narrow-phase will ignore this pair and
/// not compute any intersection information for it.
/// If this return `true` then the narrow-phase will compute intersection
/// information for this pair.
fn filter_intersection_pair(&self, context: &PairFilterContext) -> bool;
/// Modifies the set of contacts seen by the constraints solver.
///
/// By default, the content of `solver_contacts` is computed from `manifold.points`.
/// This method will be called on each contact manifold which have the flag `SolverFlags::MODIFY_CONTACTS` set.
/// This method can be used to modify the set of solver contacts seen by the constraints solver: contacts
/// can be removed and modified.
///
/// Note that if all the contacts have to be ignored by the constraint solver, you may simply
/// do `context.solver_contacts.clear()`.
///
/// Modifying the solver contacts allow you to achieve various effects, including:
/// - Simulating conveyor belts by setting the `surface_velocity` of a solver contact.
/// - Simulating shapes with multiply materials by modifying the friction and restitution
/// coefficient depending of the features in contacts.
/// - Simulating one-way platforms depending on the contact normal.
///
/// Each contact manifold is given a `u32` user-defined data that is persistent between
/// timesteps (as long as the contact manifold exists). This user-defined data is initialized
/// as 0 and can be modified in `context.user_data`.
fn modify_solver_contacts(&self, context: &mut ContactModificationContext);
}
impl PhysicsHooks for () {
/// The sets of hooks that must be taken into account.
fn active_hooks(&self) -> PhysicsHooksFlags {
PhysicsHooksFlags::empty()
}
fn filter_contact_pair(&self, _: &PairFilterContext) -> Option<SolverFlags> {
None
}
fn filter_intersection_pair(&self, _: &PairFilterContext) -> bool {
false
}
fn modify_solver_contacts(&self, _: &mut ContactModificationContext) {}
}