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use hashset from parry (#716 follow up) (#788)

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This commit is contained in:
Thierry Berger
2025-01-17 16:06:06 +01:00
committed by GitHub
parent b0e72bb79d
commit 65f87d597b
3 changed files with 22 additions and 22 deletions
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22
src/dynamics/joint/impulse_joint/impulse_joint_set.rs
View File

@@ -1,4 +1,4 @@
use parry::utils::hashmap::HashMap;
use parry::utils::hashset::HashSet;
use super::ImpulseJoint;
use crate::geometry::{InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex};
@@ -46,7 +46,7 @@ pub struct ImpulseJointSet {
joint_ids: Arena<TemporaryInteractionIndex>,
joint_graph: InteractionGraph<RigidBodyHandle, ImpulseJoint>,
/// A set of rigid-body handles to wake-up during the next timestep.
pub(crate) to_wake_up: HashMap<RigidBodyHandle, ()>,
pub(crate) to_wake_up: HashSet<RigidBodyHandle>,
}
impl ImpulseJointSet {
@@ -56,7 +56,7 @@ impl ImpulseJointSet {
rb_graph_ids: Coarena::new(),
joint_ids: Arena::new(),
joint_graph: InteractionGraph::new(),
to_wake_up: HashMap::default(),
to_wake_up: HashSet::default(),
}
}
@@ -158,8 +158,8 @@ impl ImpulseJointSet {
let joint = self.joint_graph.graph.edge_weight_mut(*id);
if wake_up_connected_bodies {
if let Some(joint) = &joint {
self.to_wake_up.insert(joint.body1, ());
self.to_wake_up.insert(joint.body2, ());
self.to_wake_up.insert(joint.body1);
self.to_wake_up.insert(joint.body2);
}
}
joint
@@ -285,8 +285,8 @@ impl ImpulseJointSet {
self.joint_ids[handle] = self.joint_graph.add_edge(graph_index1, graph_index2, joint);
if wake_up {
self.to_wake_up.insert(body1, ());
self.to_wake_up.insert(body2, ());
self.to_wake_up.insert(body1);
self.to_wake_up.insert(body2);
}
ImpulseJointHandle(handle)
@@ -337,10 +337,10 @@ impl ImpulseJointSet {
if wake_up {
if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.0) {
self.to_wake_up.insert(*rb_handle, ());
self.to_wake_up.insert(*rb_handle);
}
if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.1) {
self.to_wake_up.insert(*rb_handle, ());
self.to_wake_up.insert(*rb_handle);
}
}
@@ -390,8 +390,8 @@ impl ImpulseJointSet {
}
// Wake up the attached bodies.
self.to_wake_up.insert(h1, ());
self.to_wake_up.insert(h2, ());
self.to_wake_up.insert(h1);
self.to_wake_up.insert(h2);
}
if let Some(other) = self.joint_graph.remove_node(deleted_id) {

20
src/dynamics/joint/multibody_joint/multibody_joint_set.rs
View File

@@ -1,4 +1,4 @@
use parry::utils::hashmap::HashMap;
use parry::utils::hashset::HashSet;
use crate::data::{Arena, Coarena, Index};
use crate::dynamics::joint::MultibodyLink;
@@ -96,7 +96,7 @@ pub struct MultibodyJointSet {
// NOTE: this is mostly for the island extraction. So perhaps we won’t need
// that any more in the future when we improve our island builder.
pub(crate) connectivity_graph: InteractionGraph<RigidBodyHandle, ()>,
pub(crate) to_wake_up: HashMap<RigidBodyHandle, ()>,
pub(crate) to_wake_up: HashSet<RigidBodyHandle>,
}
impl MultibodyJointSet {
@@ -106,7 +106,7 @@ impl MultibodyJointSet {
multibodies: Arena::new(),
rb2mb: Coarena::new(),
connectivity_graph: InteractionGraph::new(),
to_wake_up: HashMap::default(),
to_wake_up: HashSet::default(),
}
}
@@ -203,8 +203,8 @@ impl MultibodyJointSet {
multibody1.append(mb2, link1.id, MultibodyJoint::new(data.into(), kinematic));
if wake_up {
self.to_wake_up.insert(body1, ());
self.to_wake_up.insert(body2, ());
self.to_wake_up.insert(body1);
self.to_wake_up.insert(body2);
}
// Because each rigid-body can only have one parent link,
@@ -227,8 +227,8 @@ impl MultibodyJointSet {
.remove_edge(parent_graph_id, removed.graph_id);
if wake_up {
self.to_wake_up.insert(RigidBodyHandle(handle.0), ());
self.to_wake_up.insert(parent_rb, ());
self.to_wake_up.insert(RigidBodyHandle(handle.0));
self.to_wake_up.insert(parent_rb);
}
// TODO: remove the node if it no longer has any attached edges?
@@ -270,7 +270,7 @@ impl MultibodyJointSet {
let rb_handle = link.rigid_body;
if wake_up {
self.to_wake_up.insert(rb_handle, ());
self.to_wake_up.insert(rb_handle);
}
// Remove the rigid-body <-> multibody mapping for this link.
@@ -296,8 +296,8 @@ impl MultibodyJointSet {
// There is a multibody_joint handle is equal to the second rigid-body’s handle.
articulations_to_remove.push(MultibodyJointHandle(rb2.0));
self.to_wake_up.insert(rb1, ());
self.to_wake_up.insert(rb2, ());
self.to_wake_up.insert(rb1);
self.to_wake_up.insert(rb2);
}
for articulation_handle in articulations_to_remove {

2
src/pipeline/physics_pipeline.rs
View File

@@ -437,7 +437,7 @@ impl PhysicsPipeline {
.drain()
.chain(multibody_joints.to_wake_up.drain());
for handle in impulse_joints_iterator {
islands.wake_up(bodies, handle.0, true);
islands.wake_up(bodies, handle, true);
}
// Apply modifications.