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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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22
src/pipeline/collision_pipeline.rs
View File

@@ -44,19 +44,15 @@ impl CollisionPipeline {
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
bodies.maintain(colliders);
colliders.handle_user_changes(bodies);
bodies.handle_user_changes(colliders);
self.broadphase_collider_pairs.clear();
self.broad_phase_events.clear();
broad_phase.update(
prediction_distance,
bodies,
colliders,
&mut self.broad_phase_events,
);
broad_phase.update(prediction_distance, colliders, &mut self.broad_phase_events);
narrow_phase.handle_user_changes(colliders, bodies, events);
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(prediction_distance, bodies, colliders, hooks, events);
narrow_phase.compute_intersections(bodies, colliders, hooks, events);
@@ -64,22 +60,16 @@ impl CollisionPipeline {
colliders,
narrow_phase,
self.empty_joints.joint_graph(),
0,
128,
);
// // Update kinematic bodies velocities.
// bodies.foreach_active_kinematic_body_mut_internal(|_, body| {
// body.compute_velocity_from_next_position(integration_parameters.inv_dt());
// });
// Update colliders positions and kinematic bodies positions.
bodies.foreach_active_body_mut_internal(|_, rb| {
rb.position = rb.next_position;
rb.update_colliders_positions(colliders);
for handle in &rb.colliders {
let collider = &mut colliders[*handle];
collider.prev_position = collider.position;
let collider = colliders.get_mut_internal(*handle).unwrap();
collider.position = rb.position * collider.delta;
}
});

77
src/pipeline/physics_pipeline.rs
View File

@@ -58,7 +58,7 @@ impl PhysicsPipeline {
}
}
fn detect_collisions(
fn detect_collisions_after_user_modifications(
&mut self,
integration_parameters: &IntegrationParameters,
broad_phase: &mut BroadPhase,
@@ -70,23 +70,22 @@ impl PhysicsPipeline {
) {
self.counters.stages.collision_detection_time.start();
self.counters.cd.broad_phase_time.start();
// Update broad-phase.
self.broad_phase_events.clear();
self.broadphase_collider_pairs.clear();
broad_phase.update(
integration_parameters.prediction_distance,
bodies,
colliders,
&mut self.broad_phase_events,
);
self.counters.cd.broad_phase_time.pause();
// println!("Num contact pairs: {}", pairs.len());
self.counters.cd.narrow_phase_time.start();
narrow_phase.maintain(colliders, bodies);
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
// Update narrow-phase.
narrow_phase.handle_user_changes(colliders, bodies, events);
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(
integration_parameters.prediction_distance,
bodies,
@@ -95,6 +94,54 @@ impl PhysicsPipeline {
events,
);
narrow_phase.compute_intersections(bodies, colliders, hooks, events);
// Clear colliders modification flags.
colliders.clear_modified_colliders();
self.counters.cd.narrow_phase_time.pause();
self.counters.stages.collision_detection_time.pause();
}
fn detect_collisions_after_integration(
&mut self,
integration_parameters: &IntegrationParameters,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
self.counters.stages.collision_detection_time.resume();
self.counters.cd.broad_phase_time.resume();
// Update broad-phase.
self.broad_phase_events.clear();
self.broadphase_collider_pairs.clear();
broad_phase.update(
integration_parameters.prediction_distance,
colliders,
&mut self.broad_phase_events,
);
self.counters.cd.broad_phase_time.pause();
self.counters.cd.narrow_phase_time.resume();
// Update narrow-phase.
// NOTE: we don't need to call `narrow_phase.handle_user_changes` because this
// has already been done at the beginning of the timestep.
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(
integration_parameters.prediction_distance,
bodies,
colliders,
hooks,
events,
);
narrow_phase.compute_intersections(bodies, colliders, hooks, events);
// Clear colliders modification flags.
colliders.clear_modified_colliders();
self.counters.cd.narrow_phase_time.pause();
self.counters.stages.collision_detection_time.pause();
}
@@ -275,10 +322,11 @@ impl PhysicsPipeline {
events: &dyn EventHandler,
) {
self.counters.step_started();
bodies.maintain(colliders);
colliders.handle_user_changes(bodies);
bodies.handle_user_changes(colliders);
self.interpolate_kinematic_velocities(integration_parameters, bodies);
self.detect_collisions(
self.detect_collisions_after_user_modifications(
integration_parameters,
broad_phase,
narrow_phase,
@@ -303,6 +351,15 @@ impl PhysicsPipeline {
events,
);
self.advance_to_final_positions(bodies, colliders);
self.detect_collisions_after_integration(
integration_parameters,
broad_phase,
narrow_phase,
bodies,
colliders,
hooks,
events,
);
bodies.modified_inactive_set.clear();
self.counters.step_completed();