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Make kinematic bodies properly wake up dynamic bodies.

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This commit is contained in:
Crozet Sébastien
2020-09-21 10:43:20 +02:00
parent e16b7722be
commit 7b8e322446
9 changed files with 168 additions and 54 deletions
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17
src/geometry/narrow_phase.rs
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@@ -87,11 +87,11 @@ impl NarrowPhase {
// Wake up every body in contact with the deleted collider.
for (a, b, _) in self.contact_graph.interactions_with(contact_graph_id) {
if let Some(parent) = colliders.get(a).map(|c| c.parent) {
bodies.wake_up(parent)
bodies.wake_up(parent, true)
}
if let Some(parent) = colliders.get(b).map(|c| c.parent) {
bodies.wake_up(parent)
bodies.wake_up(parent, true)
}
}
@@ -119,6 +119,7 @@ impl NarrowPhase {
pub(crate) fn register_pairs(
&mut self,
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
broad_phase_events: &[BroadPhasePairEvent],
events: &dyn EventHandler,
) {
@@ -218,9 +219,13 @@ impl NarrowPhase {
.contact_graph
.remove_edge(co1.contact_graph_index, co2.contact_graph_index);
// Emit a contact stopped event if we had a proximity before removing the edge.
// Emit a contact stopped event if we had a contact before removing the edge.
// Also wake up the dynamic bodies that were in contact.
if let Some(ctct) = contact_pair {
if ctct.has_any_active_contact() {
bodies.wake_up(co1.parent, true);
bodies.wake_up(co2.parent, true);
events.handle_contact_event(ContactEvent::Stopped(
pair.collider1,
pair.collider2,
@@ -250,8 +255,7 @@ impl NarrowPhase {
let rb1 = &bodies[co1.parent];
let rb2 = &bodies[co2.parent];
if (rb1.is_sleeping() || !rb1.is_dynamic()) && (rb2.is_sleeping() || !rb2.is_dynamic())
{
if (rb1.is_sleeping() || rb1.is_static()) && (rb2.is_sleeping() || rb2.is_static()) {
// No need to update this contact because nothing moved.
return;
}
@@ -359,7 +363,8 @@ impl NarrowPhase {
let rb1 = &bodies[co1.parent];
let rb2 = &bodies[co2.parent];
if (rb1.is_sleeping() || !rb1.is_dynamic()) && (rb2.is_sleeping() || !rb2.is_dynamic())
if ((rb1.is_sleeping() || rb1.is_static()) && (rb2.is_sleeping() || rb2.is_static()))
|| (!rb1.is_dynamic() && !rb2.is_dynamic())
{
// No need to update this contact because nothing moved.
return;