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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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42
src/pipeline/query_pipeline.rs
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@@ -4,7 +4,7 @@ use crate::dynamics::{
RigidBodyVelocity,
};
use crate::geometry::{
ColliderGroups, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape,
ColliderFlags, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape,
InteractionGroups, PointProjection, Ray, RayIntersection, AABB, QBVH,
};
use crate::math::{Isometry, Point, Real, Vector};
@@ -67,7 +67,7 @@ impl<'a, Colliders> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a
where
// TODO ECS: make everything optional but the shape?
Colliders:
ComponentSet<ColliderGroups> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape>,
ComponentSet<ColliderFlags> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape>,
{
type PartShape = dyn Shape;
type PartId = ColliderHandle;
@@ -77,10 +77,10 @@ where
shape_id: Self::PartId,
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
) {
let co_groups: Option<&ColliderGroups> = self.colliders.get(shape_id.0);
let co_flags: Option<&ColliderFlags> = self.colliders.get(shape_id.0);
if let Some(co_groups) = co_groups {
if co_groups.collision_groups.test(self.query_groups)
if let Some(co_flags) = co_flags {
if co_flags.collision_groups.test(self.query_groups)
&& self.filter.map(|f| f(shape_id)).unwrap_or(true)
{
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
@@ -384,7 +384,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, Real)>
where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -420,7 +420,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, RayIntersection)>
where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -463,16 +463,16 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
mut callback: impl FnMut(ColliderHandle, RayIntersection) -> bool,
) where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
let mut leaf_callback = &mut |handle: &ColliderHandle| {
let co_shape: Option<&ColliderShape> = colliders.get(handle.0);
if let Some(co_shape) = co_shape {
let (co_groups, co_pos): (&ColliderGroups, &ColliderPosition) =
let (co_flags, co_pos): (&ColliderFlags, &ColliderPosition) =
colliders.index_bundle(handle.0);
if co_groups.collision_groups.test(query_groups)
if co_flags.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle)).unwrap_or(true)
{
if let Some(hit) = co_shape.cast_ray_and_get_normal(co_pos, ray, max_toi, solid)
@@ -509,7 +509,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<ColliderHandle>
where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -550,7 +550,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, PointProjection)>
where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -583,7 +583,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
mut callback: impl FnMut(ColliderHandle) -> bool,
) where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -591,10 +591,10 @@ impl QueryPipeline {
let co_shape: Option<&ColliderShape> = colliders.get(handle.0);
if let Some(co_shape) = co_shape {
let (co_groups, co_pos): (&ColliderGroups, &ColliderPosition) =
let (co_flags, co_pos): (&ColliderFlags, &ColliderPosition) =
colliders.index_bundle(handle.0);
if co_groups.collision_groups.test(query_groups)
if co_flags.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle)).unwrap_or(true)
&& co_shape.contains_point(co_pos, point)
{
@@ -635,7 +635,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, PointProjection, FeatureId)>
where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -685,7 +685,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, TOI)>
where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -733,7 +733,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, TOI)>
where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -774,7 +774,7 @@ impl QueryPipeline {
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
mut callback: impl FnMut(ColliderHandle) -> bool,
) where
Colliders: ComponentSet<ColliderGroups>
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
@@ -785,10 +785,10 @@ impl QueryPipeline {
let co_shape: Option<&ColliderShape> = colliders.get(handle.0);
if let Some(co_shape) = co_shape {
let (co_groups, co_pos): (&ColliderGroups, &ColliderPosition) =
let (co_flags, co_pos): (&ColliderFlags, &ColliderPosition) =
colliders.index_bundle(handle.0);
if co_groups.collision_groups.test(query_groups)
if co_flags.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle)).unwrap_or(true)
{
let pos12 = inv_shape_pos * co_pos.as_ref();