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Add ActiveCollisionTypes to easily enable collision-detection between two non-static rigid-body.

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This commit is contained in:
Crozet Sébastien
2021-06-01 17:59:07 +02:00
parent 1839f61d81
commit 7153eb7779
12 changed files with 230 additions and 181 deletions
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18
src/dynamics/ccd/ccd_solver.rs
View File

@@ -10,7 +10,7 @@ use crate::geometry::{
use crate::math::Real;
use crate::parry::utils::SortedPair;
use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
use crate::prelude::{ActiveEvents, ColliderFlags, ColliderGroups};
use crate::prelude::{ActiveEvents, ColliderFlags};
use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
use parry::utils::hashmap::HashMap;
use std::collections::BinaryHeap;
@@ -141,7 +141,7 @@ impl CCDSolver {
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderGroups>,
+ ComponentSet<ColliderFlags>,
{
// Update the query pipeline.
self.query_pipeline.update_with_mode(
@@ -202,8 +202,8 @@ impl CCDSolver {
{
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
let co_type1: &ColliderType = colliders.index(ch1.0);
let co_type2: &ColliderType = colliders.index(ch1.0);
@@ -281,7 +281,7 @@ impl CCDSolver {
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>
+ ComponentSet<ColliderGroups>,
+ ComponentSet<ColliderFlags>,
{
let mut frozen = HashMap::<_, Real>::default();
let mut all_toi = BinaryHeap::new();
@@ -343,8 +343,8 @@ impl CCDSolver {
{
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
let bh1 = co_parent1.map(|p| p.handle);
let bh2 = co_parent2.map(|p| p.handle);
@@ -470,8 +470,8 @@ impl CCDSolver {
.colliders_with_aabb_intersecting_aabb(&aabb, |ch2| {
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
let bh1 = co_parent1.map(|p| p.handle);
let bh2 = co_parent2.map(|p| p.handle);

12
src/dynamics/ccd/toi_entry.rs
View File

@@ -2,7 +2,7 @@ use crate::dynamics::{
RigidBodyCcd, RigidBodyHandle, RigidBodyMassProps, RigidBodyPosition, RigidBodyVelocity,
};
use crate::geometry::{
ColliderGroups, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
ColliderFlags, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
};
use crate::math::Real;
use parry::query::{NonlinearRigidMotion, QueryDispatcher};
@@ -49,14 +49,14 @@ impl TOIEntry {
&ColliderType,
&ColliderShape,
&ColliderPosition,
&ColliderGroups,
&ColliderFlags,
Option<&ColliderParent>,
),
c2: (
&ColliderType,
&ColliderShape,
&ColliderPosition,
&ColliderGroups,
&ColliderFlags,
Option<&ColliderParent>,
),
b1: Option<(
@@ -82,8 +82,8 @@ impl TOIEntry {
return None;
}
let (co_type1, co_shape1, co_pos1, co_groups1, co_parent1) = c1;
let (co_type2, co_shape2, co_pos2, co_groups2, co_parent2) = c2;
let (co_type1, co_shape1, co_pos1, co_flags1, co_parent1) = c1;
let (co_type2, co_shape2, co_pos2, co_flags2, co_parent2) = c2;
let linvel1 =
frozen1.is_none() as u32 as Real * b1.map(|b| b.1.linvel).unwrap_or(na::zero());
@@ -110,7 +110,7 @@ impl TOIEntry {
+ smallest_contact_dist.max(0.0);
let is_pseudo_intersection_test = co_type1.is_sensor()
|| co_type2.is_sensor()
|| !co_groups1.solver_groups.test(co_groups2.solver_groups);
|| !co_flags1.solver_groups.test(co_flags2.solver_groups);
if (end_time - start_time) * vel12 < thickness {
return None;