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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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67
src/geometry/collider.rs
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@@ -1,8 +1,8 @@
use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::geometry::{
ColliderBroadPhaseData, ColliderChanges, ColliderFlags, ColliderGroups, ColliderMassProps,
ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
InteractionGroups, SharedShape,
ActiveCollisionTypes, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape,
ColliderType, InteractionGroups, SharedShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
@@ -25,7 +25,6 @@ pub struct Collider {
pub(crate) co_pos: ColliderPosition,
pub(crate) co_material: ColliderMaterial,
pub(crate) co_flags: ColliderFlags,
pub(crate) co_groups: ColliderGroups,
pub(crate) co_bf_data: ColliderBroadPhaseData,
/// User-defined data associated to this rigid-body.
pub user_data: u128,
@@ -57,16 +56,26 @@ impl Collider {
self.co_flags.active_hooks = active_hooks;
}
/// The physics hooks enabled for this collider.
/// The events enabled for this collider.
pub fn active_events(&self) -> ActiveEvents {
self.co_flags.active_events
}
/// Sets the physics hooks enabled for this collider.
/// Sets the events enabled for this collider.
pub fn set_active_events(&mut self, active_events: ActiveEvents) {
self.co_flags.active_events = active_events;
}
/// The collision types enabled for this collider.
pub fn active_collision_types(&self) -> ActiveCollisionTypes {
self.co_flags.active_collision_types
}
/// Sets the collision types enabled for this collider.
pub fn set_active_collision_types(&mut self, active_collision_types: ActiveCollisionTypes) {
self.co_flags.active_collision_types = active_collision_types;
}
/// The friction coefficient of this collider.
pub fn friction(&self) -> Real {
self.co_material.friction
@@ -179,27 +188,27 @@ impl Collider {
/// The collision groups used by this collider.
pub fn collision_groups(&self) -> InteractionGroups {
self.co_groups.collision_groups
self.co_flags.collision_groups
}
/// Sets the collision groups of this collider.
pub fn set_collision_groups(&mut self, groups: InteractionGroups) {
if self.co_groups.collision_groups != groups {
if self.co_flags.collision_groups != groups {
self.co_changes.insert(ColliderChanges::GROUPS);
self.co_groups.collision_groups = groups;
self.co_flags.collision_groups = groups;
}
}
/// The solver groups used by this collider.
pub fn solver_groups(&self) -> InteractionGroups {
self.co_groups.solver_groups
self.co_flags.solver_groups
}
/// Sets the solver groups of this collider.
pub fn set_solver_groups(&mut self, groups: InteractionGroups) {
if self.co_groups.solver_groups != groups {
if self.co_flags.solver_groups != groups {
self.co_changes.insert(ColliderChanges::GROUPS);
self.co_groups.solver_groups = groups;
self.co_flags.solver_groups = groups;
}
}
@@ -281,6 +290,8 @@ pub struct ColliderBuilder {
pub position: Isometry<Real>,
/// Is this collider a sensor?
pub is_sensor: bool,
/// Contact pairs enabled for this collider.
pub active_collision_types: ActiveCollisionTypes,
/// Physics hooks enabled for this collider.
pub active_hooks: ActiveHooks,
/// Events enabled for this collider.
@@ -309,6 +320,7 @@ impl ColliderBuilder {
solver_groups: InteractionGroups::all(),
friction_combine_rule: CoefficientCombineRule::Average,
restitution_combine_rule: CoefficientCombineRule::Average,
active_collision_types: ActiveCollisionTypes::default(),
active_hooks: ActiveHooks::empty(),
active_events: ActiveEvents::empty(),
}
@@ -605,6 +617,12 @@ impl ColliderBuilder {
self
}
/// The set of active collision types for this collider.
pub fn active_collision_types(mut self, active_collision_types: ActiveCollisionTypes) -> Self {
self.active_collision_types = active_collision_types;
self
}
/// Sets the friction coefficient of the collider this builder will build.
pub fn friction(mut self, friction: Real) -> Self {
self.friction = friction;
@@ -691,27 +709,17 @@ impl ColliderBuilder {
/// Builds a new collider attached to the given rigid-body.
pub fn build(&self) -> Collider {
let (
co_changes,
co_pos,
co_bf_data,
co_shape,
co_type,
co_groups,
co_material,
co_flags,
co_mprops,
) = self.components();
let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_material, co_flags, co_mprops) =
self.components();
Collider {
co_shape,
co_mprops,
co_material,
co_flags,
co_parent: None,
co_changes,
co_pos,
co_bf_data,
co_groups,
co_flags,
co_type,
user_data: self.user_data,
}
@@ -726,7 +734,6 @@ impl ColliderBuilder {
ColliderBroadPhaseData,
ColliderShape,
ColliderType,
ColliderGroups,
ColliderMaterial,
ColliderFlags,
ColliderMassProps,
@@ -748,16 +755,15 @@ impl ColliderBuilder {
restitution_combine_rule: self.restitution_combine_rule,
};
let co_flags = ColliderFlags {
collision_groups: self.collision_groups,
solver_groups: self.solver_groups,
active_collision_types: self.active_collision_types,
active_hooks: self.active_hooks,
active_events: self.active_events,
};
let co_changes = ColliderChanges::all();
let co_pos = ColliderPosition(self.position);
let co_bf_data = ColliderBroadPhaseData::default();
let co_groups = ColliderGroups {
collision_groups: self.collision_groups,
solver_groups: self.solver_groups,
};
let co_type = if self.is_sensor {
ColliderType::Sensor
} else {
@@ -770,7 +776,6 @@ impl ColliderBuilder {
co_bf_data,
co_shape,
co_type,
co_groups,
co_material,
co_flags,
co_mprops,