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Allow collider modification after its insersion to the ColliderSet.

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This commit is contained in:
Crozet Sébastien
2021-03-29 14:54:54 +02:00
parent dec3e4197f
commit 8173e7ada2
16 changed files with 744 additions and 247 deletions
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170
src/geometry/collider_set.rs
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@@ -1,6 +1,7 @@
use crate::data::arena::Arena;
use crate::data::pubsub::PubSub;
use crate::dynamics::{RigidBodyHandle, RigidBodySet};
use crate::geometry::collider::ColliderChanges;
use crate::geometry::{Collider, SAPProxyIndex};
use parry::partitioning::IndexedData;
use std::ops::{Index, IndexMut};
@@ -54,6 +55,8 @@ pub(crate) struct RemovedCollider {
pub struct ColliderSet {
pub(crate) removed_colliders: PubSub<RemovedCollider>,
pub(crate) colliders: Arena<Collider>,
pub(crate) modified_colliders: Vec<ColliderHandle>,
pub(crate) modified_all_colliders: bool,
}
impl ColliderSet {
@@ -62,6 +65,8 @@ impl ColliderSet {
ColliderSet {
removed_colliders: PubSub::new(),
colliders: Arena::new(),
modified_colliders: Vec::new(),
modified_all_colliders: false,
}
}
@@ -75,6 +80,37 @@ impl ColliderSet {
self.colliders.iter().map(|(h, c)| (ColliderHandle(h), c))
}
/// Iterates mutably through all the colliders on this set.
#[cfg(not(feature = "dev-remove-slow-accessors"))]
pub fn iter_mut(&mut self) -> impl Iterator<Item = (ColliderHandle, &mut Collider)> {
self.modified_colliders.clear();
self.modified_all_colliders = true;
self.colliders
.iter_mut()
.map(|(h, b)| (ColliderHandle(h), b))
}
#[inline(always)]
pub(crate) fn foreach_modified_colliders(&self, mut f: impl FnMut(ColliderHandle, &Collider)) {
for handle in &self.modified_colliders {
if let Some(rb) = self.colliders.get(handle.0) {
f(*handle, rb)
}
}
}
#[inline(always)]
pub(crate) fn foreach_modified_colliders_mut_internal(
&mut self,
mut f: impl FnMut(ColliderHandle, &mut Collider),
) {
for handle in &self.modified_colliders {
if let Some(rb) = self.colliders.get_mut(handle.0) {
f(*handle, rb)
}
}
}
/// The number of colliders on this set.
pub fn len(&self) -> usize {
self.colliders.len()
@@ -90,6 +126,24 @@ impl ColliderSet {
self.colliders.contains(handle.0)
}
pub(crate) fn contains_any_modified_collider(&self) -> bool {
self.modified_all_colliders || !self.modified_colliders.is_empty()
}
pub(crate) fn clear_modified_colliders(&mut self) {
if self.modified_all_colliders {
for collider in self.colliders.iter_mut() {
collider.1.changes = ColliderChanges::empty();
}
self.modified_colliders.clear();
self.modified_all_colliders = false;
} else {
for handle in self.modified_colliders.drain(..) {
self.colliders[handle.0].changes = ColliderChanges::empty();
}
}
}
/// Inserts a new collider to this set and retrieve its handle.
pub fn insert(
&mut self,
@@ -106,11 +160,12 @@ impl ColliderSet {
// NOTE: we use `get_mut` instead of `get_mut_internal` so that the
// modification flag is updated properly.
let parent = bodies
.get_mut(parent_handle)
.get_mut_internal_with_modification_tracking(parent_handle)
.expect("Parent rigid body not found.");
coll.prev_position = parent.position * coll.delta;
coll.position = parent.position * coll.delta;
let handle = ColliderHandle(self.colliders.insert(coll));
self.modified_colliders.push(handle);
let coll = self.colliders.get(handle.0).unwrap();
parent.add_collider(handle, &coll);
handle
@@ -133,7 +188,7 @@ impl ColliderSet {
*/
// NOTE: we use `get_mut` instead of `get_mut_internal` so that the
// modification flag is updated properly.
if let Some(parent) = bodies.get_mut(collider.parent) {
if let Some(parent) = bodies.get_mut_internal_with_modification_tracking(collider.parent) {
parent.remove_collider_internal(handle, &collider);
if wake_up {
@@ -178,10 +233,17 @@ impl ColliderSet {
///
/// Using this is discouraged in favor of `self.get_mut(handle)` which does not
/// suffer form the ABA problem.
#[cfg(not(feature = "dev-remove-slow-accessors"))]
pub fn get_unknown_gen_mut(&mut self, i: usize) -> Option<(&mut Collider, ColliderHandle)> {
self.colliders
.get_unknown_gen_mut(i)
.map(|(c, h)| (c, ColliderHandle(h)))
let (collider, handle) = self.colliders.get_unknown_gen_mut(i)?;
let handle = ColliderHandle(handle);
Self::mark_as_modified(
handle,
collider,
&mut self.modified_colliders,
self.modified_all_colliders,
);
Some((collider, handle))
}
/// Get the collider with the given handle.
@@ -189,31 +251,79 @@ impl ColliderSet {
self.colliders.get(handle.0)
}
fn mark_as_modified(
handle: ColliderHandle,
collider: &mut Collider,
modified_colliders: &mut Vec<ColliderHandle>,
modified_all_colliders: bool,
) {
if !modified_all_colliders && !collider.changes.contains(ColliderChanges::MODIFIED) {
collider.changes = ColliderChanges::MODIFIED;
modified_colliders.push(handle);
}
}
/// Gets a mutable reference to the collider with the given handle.
#[cfg(not(feature = "dev-remove-slow-accessors"))]
pub fn get_mut(&mut self, handle: ColliderHandle) -> Option<&mut Collider> {
let result = self.colliders.get_mut(handle.0)?;
Self::mark_as_modified(
handle,
result,
&mut self.modified_colliders,
self.modified_all_colliders,
);
Some(result)
}
pub(crate) fn get_mut_internal(&mut self, handle: ColliderHandle) -> Option<&mut Collider> {
self.colliders.get_mut(handle.0)
}
// pub(crate) fn get2_mut_internal(
// &mut self,
// h1: ColliderHandle,
// h2: ColliderHandle,
// ) -> (Option<&mut Collider>, Option<&mut Collider>) {
// self.colliders.get2_mut(h1, h2)
// }
// Just a very long name instead of `.get_mut` to make sure
// this is really the method we wanted to use instead of `get_mut_internal`.
pub(crate) fn get_mut_internal_with_modification_tracking(
&mut self,
handle: ColliderHandle,
) -> Option<&mut Collider> {
let result = self.colliders.get_mut(handle.0)?;
Self::mark_as_modified(
handle,
result,
&mut self.modified_colliders,
self.modified_all_colliders,
);
Some(result)
}
// pub fn iter_mut(&mut self) -> impl Iterator<Item = (ColliderHandle, ColliderMut)> {
// // let sender = &self.activation_channel_sender;
// self.colliders.iter_mut().map(move |(h, rb)| {
// (h, ColliderMut::new(h, rb /*sender.clone()*/))
// })
// }
// Utility function to avoid some borrowing issue in the `maintain` method.
fn maintain_one(bodies: &mut RigidBodySet, collider: &mut Collider) {
if collider
.changes
.contains(ColliderChanges::POSITION_WRT_PARENT)
{
if let Some(parent) = bodies.get_mut_internal(collider.parent()) {
let position = parent.position * collider.position_wrt_parent();
// NOTE: the set_position method will add the ColliderChanges::POSITION flag,
// which is needed for the broad-phase/narrow-phase to detect the change.
collider.set_position(position);
}
}
}
// pub(crate) fn iter_mut_internal(
// &mut self,
// ) -> impl Iterator<Item = (ColliderHandle, &mut Collider)> {
// self.colliders.iter_mut()
// }
pub(crate) fn handle_user_changes(&mut self, bodies: &mut RigidBodySet) {
if self.modified_all_colliders {
for (_, rb) in self.colliders.iter_mut() {
Self::maintain_one(bodies, rb)
}
} else {
for handle in self.modified_colliders.drain(..) {
if let Some(rb) = self.colliders.get_mut(handle.0) {
Self::maintain_one(bodies, rb)
}
}
}
}
}
impl Index<ColliderHandle> for ColliderSet {
@@ -224,8 +334,16 @@ impl Index<ColliderHandle> for ColliderSet {
}
}
#[cfg(not(feature = "dev-remove-slow-accessors"))]
impl IndexMut<ColliderHandle> for ColliderSet {
fn index_mut(&mut self, index: ColliderHandle) -> &mut Collider {
&mut self.colliders[index.0]
fn index_mut(&mut self, handle: ColliderHandle) -> &mut Collider {
let collider = &mut self.colliders[handle.0];
Self::mark_as_modified(
handle,
collider,
&mut self.modified_colliders,
self.modified_all_colliders,
);
collider
}
}