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Restore the collision pipeline

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This commit is contained in:
Crozet Sébastien
2021-04-29 10:26:44 +02:00
parent 83cb981a88
commit 705876f5e5
5 changed files with 305 additions and 114 deletions
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74
src/geometry/narrow_phase.rs
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@@ -174,7 +174,7 @@ impl NarrowPhase {
/// Maintain the narrow-phase internal state by taking collider removal into account.
pub fn handle_user_changes<Bodies, Colliders>(
&mut self,
islands: &mut IslandManager,
mut islands: Option<&mut IslandManager>,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
colliders: &mut Colliders,
@@ -210,7 +210,7 @@ impl NarrowPhase {
self.remove_collider(
intersection_graph_id,
contact_graph_id,
islands,
islands.as_deref_mut(),
colliders,
bodies,
&mut prox_id_remap,
@@ -226,7 +226,7 @@ impl NarrowPhase {
&mut self,
intersection_graph_id: ColliderGraphIndex,
contact_graph_id: ColliderGraphIndex,
islands: &mut IslandManager,
islands: Option<&mut IslandManager>,
colliders: &mut Colliders,
bodies: &mut Bodies,
prox_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
@@ -238,13 +238,15 @@ impl NarrowPhase {
Colliders: ComponentSetOption<ColliderParent>,
{
// Wake up every body in contact with the deleted collider.
for (a, b, _) in self.contact_graph.interactions_with(contact_graph_id) {
if let Some(parent) = colliders.get(a.0).map(|c| c.handle) {
islands.wake_up(bodies, parent, true)
}
if let Some(islands) = islands {
for (a, b, _) in self.contact_graph.interactions_with(contact_graph_id) {
if let Some(parent) = colliders.get(a.0).map(|c| c.handle) {
islands.wake_up(bodies, parent, true)
}
if let Some(parent) = colliders.get(b.0).map(|c| c.handle) {
islands.wake_up(bodies, parent, true)
if let Some(parent) = colliders.get(b.0).map(|c| c.handle) {
islands.wake_up(bodies, parent, true)
}
}
}
@@ -269,7 +271,7 @@ impl NarrowPhase {
pub(crate) fn handle_modified_colliders<Bodies, Colliders>(
&mut self,
islands: &mut IslandManager,
mut islands: Option<&mut IslandManager>,
modified_colliders: &[ColliderHandle],
colliders: &Colliders,
bodies: &mut Bodies,
@@ -305,19 +307,22 @@ impl NarrowPhase {
let (co_changes, co_type): (&ColliderChanges, &ColliderType) =
colliders.index_bundle(handle.0);
if let Some(co_parent) = co_parent {
islands.wake_up(bodies, co_parent.handle, true);
}
if let Some(islands) = islands.as_deref_mut() {
if let Some(co_parent) = co_parent {
islands.wake_up(bodies, co_parent.handle, true);
}
for inter in self
.contact_graph
.interactions_with(gid.contact_graph_index)
{
let other_handle = if *handle == inter.0 { inter.1 } else { inter.0 };
let other_parent: Option<&ColliderParent> = colliders.get(other_handle.0);
for inter in self
.contact_graph
.interactions_with(gid.contact_graph_index)
{
let other_handle = if *handle == inter.0 { inter.1 } else { inter.0 };
let other_parent: Option<&ColliderParent> =
colliders.get(other_handle.0);
if let Some(other_parent) = other_parent {
islands.wake_up(bodies, other_parent.handle, true);
if let Some(other_parent) = other_parent {
islands.wake_up(bodies, other_parent.handle, true);
}
}
}
@@ -364,7 +369,14 @@ impl NarrowPhase {
// Remove the pair from the relevant graph.
for pair in &pairs_to_remove {
self.remove_pair(islands, colliders, bodies, &pair.0, events, pair.1);
self.remove_pair(
islands.as_deref_mut(),
colliders,
bodies,
&pair.0,
events,
pair.1,
);
}
// Add the paid removed pair to the relevant graph.
@@ -375,7 +387,7 @@ impl NarrowPhase {
fn remove_pair<Bodies, Colliders>(
&mut self,
islands: &mut IslandManager,
islands: Option<&mut IslandManager>,
colliders: &Colliders,
bodies: &mut Bodies,
pair: &ColliderPair,
@@ -425,12 +437,14 @@ impl NarrowPhase {
let co_parent2: Option<&ColliderParent> =
colliders.get(pair.collider2.0);
if let Some(co_parent1) = co_parent1 {
islands.wake_up(bodies, co_parent1.handle, true);
}
if let Some(islands) = islands {
if let Some(co_parent1) = co_parent1 {
islands.wake_up(bodies, co_parent1.handle, true);
}
if let Some(co_parent2) = co_parent2 {
islands.wake_up(bodies, co_parent2.handle, true);
if let Some(co_parent2) = co_parent2 {
islands.wake_up(bodies, co_parent2.handle, true);
}
}
events.handle_contact_event(ContactEvent::Stopped(
@@ -526,7 +540,7 @@ impl NarrowPhase {
pub(crate) fn register_pairs<Bodies, Colliders>(
&mut self,
islands: &mut IslandManager,
mut islands: Option<&mut IslandManager>,
colliders: &Colliders,
bodies: &mut Bodies,
broad_phase_events: &[BroadPhasePairEvent],
@@ -544,7 +558,7 @@ impl NarrowPhase {
}
BroadPhasePairEvent::DeletePair(pair) => {
self.remove_pair(
islands,
islands.as_deref_mut(),
colliders,
bodies,
pair,