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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
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@@ -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);