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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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136
src/pipeline/user_changes.rs
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@@ -37,7 +37,7 @@ pub(crate) fn handle_user_changes_to_colliders<Colliders>(
}
pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
islands: &mut IslandManager,
mut islands: Option<&mut IslandManager>,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_bodies: &[RigidBodyHandle],
@@ -73,65 +73,79 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
{
// The body's status changed. We need to make sure
// it is on the correct active set.
if changes.contains(RigidBodyChanges::TYPE) {
match status {
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 let Some(islands) = islands.as_deref_mut() {
if changes.contains(RigidBodyChanges::TYPE) {
match status {
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::Kinematic => {
// 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::Kinematic => {
// 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::Static => {}
}
RigidBodyType::Static => {}
}
}
// Update the positions of the colliders.
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
rb_colliders.update_positions(colliders, modified_colliders, &poss.position);
if status.is_kinematic()
&& islands.active_kinematic_set.get(ids.active_set_id) != Some(handle)
// Update the positions of the colliders.
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
ids.active_set_id = islands.active_kinematic_set.len();
islands.active_kinematic_set.push(*handle);
}
}
rb_colliders.update_positions(colliders, modified_colliders, &poss.position);
// 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.
&& status.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);
if status.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)
&& !activation.sleeping // May happen if the body was put to sleep manually.
&& status.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, &poss.position);
}
}
bodies.set_internal(handle.0, RigidBodyChanges::empty());
@@ -140,16 +154,18 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
}
// Adjust some ids, if needed.
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(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 id < active_set.len() {
bodies.map_mut_internal(active_set[id].0, |ids2: &mut RigidBodyIds| {
ids2.active_set_id = id;
});
if id < active_set.len() {
bodies.map_mut_internal(active_set[id].0, |ids2: &mut RigidBodyIds| {
ids2.active_set_id = id;
});
}
}
}
}