Merge pull request #358 from dimforge/misc

Add hepler function for building a contact force event from a contact pair

src/dynamics/joint/generic_joint.rs

@@ -278,17 +278,6 @@ impl GenericJoint {
         self
     }
 
-    /// Are contacts between the attached rigid-bodies enabled?
-    pub fn contacts_enabled(&self) -> bool {
-        self.contacts_enabled
-    }
-
-    /// Sets whether contacts between the attached rigid-bodies are enabled.
-    pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
-        self.contacts_enabled = enabled;
-        self
-    }
-
     /// The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
     #[must_use]
     pub fn local_axis1(&self) -> UnitVector<Real> {
@@ -337,6 +326,17 @@ impl GenericJoint {
         self
     }
 
+    /// Are contacts between the attached rigid-bodies enabled?
+    pub fn contacts_enabled(&self) -> bool {
+        self.contacts_enabled
+    }
+
+    /// Sets whether contacts between the attached rigid-bodies are enabled.
+    pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
+        self.contacts_enabled = enabled;
+        self
+    }
+
     /// The joint limits along the specified axis.
     #[must_use]
     pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>> {

src/geometry/mod.rs

@@ -140,6 +140,42 @@ pub struct ContactForceEvent {
     pub max_force_magnitude: Real,
 }
 
+impl ContactForceEvent {
+    /// Init a contact force event from a contact pair.
+    pub fn from_contact_pair(dt: Real, pair: &ContactPair, total_force_magnitude: Real) -> Self {
+        let mut result = ContactForceEvent {
+            collider1: pair.collider1,
+            collider2: pair.collider2,
+            total_force_magnitude,
+            ..ContactForceEvent::default()
+        };
+
+        for m in &pair.manifolds {
+            let mut total_manifold_impulse = 0.0;
+            for pt in m.contacts() {
+                total_manifold_impulse += pt.data.impulse;
+
+                if pt.data.impulse > result.max_force_magnitude {
+                    result.max_force_magnitude = pt.data.impulse;
+                    result.max_force_direction = m.data.normal;
+                }
+            }
+
+            result.total_force += m.data.normal * total_manifold_impulse;
+        }
+
+        let inv_dt = crate::utils::inv(dt);
+        // NOTE: convert impulses to forces. Note that we
+        //       don’t need to convert the `total_force_magnitude`
+        //       because it’s an input of this function already
+        //       assumed to be a force instead of an impulse.
+        result.total_force *= inv_dt;
+        result.max_force_direction *= inv_dt;
+        result.max_force_magnitude *= inv_dt;
+        result
+    }
+}
+
 pub(crate) use self::broad_phase_multi_sap::SAPProxyIndex;
 pub(crate) use self::narrow_phase::ContactManifoldIndex;
 pub(crate) use parry::partitioning::QBVH;

src/pipeline/event_handler.rs

@@ -124,36 +124,7 @@ impl EventHandler for ChannelEventCollector {
         contact_pair: &ContactPair,
         total_force_magnitude: Real,
     ) {
-        let mut result = ContactForceEvent {
-            collider1: contact_pair.collider1,
-            collider2: contact_pair.collider2,
-            total_force_magnitude,
-            ..ContactForceEvent::default()
-        };
-
-        for m in &contact_pair.manifolds {
-            let mut total_manifold_impulse = 0.0;
-            for pt in m.contacts() {
-                total_manifold_impulse += pt.data.impulse;
-
-                if pt.data.impulse > result.max_force_magnitude {
-                    result.max_force_magnitude = pt.data.impulse;
-                    result.max_force_direction = m.data.normal;
-                }
-            }
-
-            result.total_force += m.data.normal * total_manifold_impulse;
-        }
-
-        let inv_dt = crate::utils::inv(dt);
-        // NOTE: convert impulses to forces. Note that we
-        //       don’t need to convert the `total_force_magnitude`
-        //       because it’s an input of this function already
-        //       assumed to be a force instead of an impulse.
-        result.total_force *= inv_dt;
-        result.max_force_direction *= inv_dt;
-        result.max_force_magnitude *= inv_dt;
-
+        let result = ContactForceEvent::from_contact_pair(dt, contact_pair, total_force_magnitude);
         let _ = self.contact_force_event_sender.send(result);
     }
 }

src/pipeline/query_pipeline.rs

@@ -103,16 +103,16 @@ impl QueryFilterFlags {
 /// A filter tha describes what collider should be included or excluded from a scene query.
 #[derive(Copy, Clone, Default)]
 pub struct QueryFilter<'a> {
-    /// Flags indicating what particular type of colliders should be exclude.
+    /// Flags indicating what particular type of colliders should be excluded from the scene query.
     pub flags: QueryFilterFlags,
     /// If set, only colliders with collision groups compatible with this one will
     /// be included in the scene query.
     pub groups: Option<InteractionGroups>,
-    /// If set, this collider will be excluded by the query.
+    /// If set, this collider will be excluded from the scene query.
     pub exclude_collider: Option<ColliderHandle>,
-    /// If set, any collider attached to this rigid-body will be exclude by the query.
+    /// If set, any collider attached to this rigid-body will be excluded from the scene query.
     pub exclude_rigid_body: Option<RigidBodyHandle>,
-    /// If set, any collider for which this closure returns false
+    /// If set, any collider for which this closure returns false will be excluded from the scene query.
     pub predicate: Option<&'a dyn Fn(ColliderHandle, &Collider) -> bool>,
 }