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Rework the event system

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This commit is contained in:
Crozet Sébastien
2021-06-01 12:36:01 +02:00
parent 1bef66fea9
commit 826ce5f014
28 changed files with 382 additions and 200 deletions
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30
src/dynamics/ccd/ccd_solver.rs
View File

@@ -10,6 +10,7 @@ use crate::geometry::{
use crate::math::Real;
use crate::parry::utils::SortedPair;
use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
use crate::prelude::{ActiveEvents, ColliderFlags};
use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
use parry::utils::hashmap::HashMap;
use std::collections::BinaryHeap;
@@ -66,7 +67,7 @@ impl CCDSolver {
&RigidBodyCcd,
&RigidBodyMassProps,
) = bodies.index_bundle(handle.0);
let local_com = &mprops.mass_properties.local_com;
let local_com = &mprops.local_mprops.local_com;
let min_toi = (ccd.ccd_thickness
* 0.15
@@ -272,7 +273,8 @@ impl CCDSolver {
Colliders: ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderType>,
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>,
{
let mut frozen = HashMap::<_, Real>::default();
let mut all_toi = BinaryHeap::new();
@@ -522,10 +524,16 @@ impl CCDSolver {
// - If the intersection isn't active anymore, and it wasn't intersecting
// before, then we need to generate one interaction-start and one interaction-stop
// events because it will never be detected by the narrow-phase because of tunneling.
let (co_pos1, co_shape1): (&ColliderPosition, &ColliderShape) =
colliders.index_bundle(toi.c1.0);
let (co_pos2, co_shape2): (&ColliderPosition, &ColliderShape) =
colliders.index_bundle(toi.c2.0);
let (co_pos1, co_shape1, co_flags1): (
&ColliderPosition,
&ColliderShape,
&ColliderFlags,
) = colliders.index_bundle(toi.c1.0);
let (co_pos2, co_shape2, co_flags2): (
&ColliderPosition,
&ColliderShape,
&ColliderFlags,
) = colliders.index_bundle(toi.c2.0);
let co_next_pos1 = if let Some(b1) = toi.b1 {
let co_parent1: &ColliderParent = colliders.get(toi.c1.0).unwrap();
@@ -535,7 +543,7 @@ impl CCDSolver {
&RigidBodyMassProps,
) = bodies.index_bundle(b1.0);
let local_com1 = &rb_mprops1.mass_properties.local_com;
let local_com1 = &rb_mprops1.local_mprops.local_com;
let frozen1 = frozen.get(&b1);
let pos1 = frozen1
.map(|t| rb_vels1.integrate(*t, &rb_pos1.position, local_com1))
@@ -553,7 +561,7 @@ impl CCDSolver {
&RigidBodyMassProps,
) = bodies.index_bundle(b2.0);
let local_com2 = &rb_mprops2.mass_properties.local_com;
let local_com2 = &rb_mprops2.local_mprops.local_com;
let frozen2 = frozen.get(&b2);
let pos2 = frozen2
.map(|t| rb_vels2.integrate(*t, &rb_pos2.position, local_com2))
@@ -575,7 +583,11 @@ impl CCDSolver {
.intersection_test(&next_coll_pos12, co_shape1.as_ref(), co_shape2.as_ref())
.unwrap_or(false);
if !intersect_before && !intersect_after {
if !intersect_before
&& !intersect_after
&& (co_flags1.active_events | co_flags2.active_events)
.contains(ActiveEvents::INTERSECTION_EVENTS)
{
// Emit one intersection-started and one intersection-stopped event.
events.handle_intersection_event(IntersectionEvent::new(toi.c1, toi.c2, true));
events.handle_intersection_event(IntersectionEvent::new(toi.c1, toi.c2, false));

2
src/dynamics/ccd/toi_entry.rs
View File

@@ -173,7 +173,7 @@ impl TOIEntry {
if ccd.ccd_active {
NonlinearRigidMotion::new(
poss.position,
mprops.mass_properties.local_com,
mprops.local_mprops.local_com,
vels.linvel,
vels.angvel,
)

22
src/dynamics/island_manager.rs
View File

@@ -229,19 +229,17 @@ impl IslandManager {
stack: &mut Vec<RigidBodyHandle>,
) {
for collider_handle in &rb_colliders.0 {
if let Some(contacts) = narrow_phase.contacts_with(*collider_handle) {
for inter in contacts {
for manifold in &inter.2.manifolds {
if !manifold.data.solver_contacts.is_empty() {
let other = crate::utils::select_other(
(inter.0, inter.1),
*collider_handle,
);
if let Some(other_body) = colliders.get(other.0) {
stack.push(other_body.handle);
}
break;
for inter in narrow_phase.contacts_with(*collider_handle) {
for manifold in &inter.manifolds {
if !manifold.data.solver_contacts.is_empty() {
let other = crate::utils::select_other(
(inter.collider1, inter.collider2),
*collider_handle,
);
if let Some(other_body) = colliders.get(other.0) {
stack.push(other_body.handle);
}
break;
}
}
}

27
src/dynamics/rigid_body.rs
View File

@@ -4,8 +4,7 @@ use crate::dynamics::{
RigidBodyMassPropsFlags, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{
Collider, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
ColliderShape,
Collider, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
use crate::utils::{self, WCross};
@@ -48,7 +47,7 @@ impl RigidBody {
rb_ccd: RigidBodyCcd::default(),
rb_ids: RigidBodyIds::default(),
rb_colliders: RigidBodyColliders::default(),
rb_activation: RigidBodyActivation::new_active(),
rb_activation: RigidBodyActivation::active(),
changes: RigidBodyChanges::all(),
rb_type: RigidBodyType::Dynamic,
rb_dominance: RigidBodyDominance::default(),
@@ -112,7 +111,7 @@ impl RigidBody {
/// The mass properties of this rigid-body.
#[inline]
pub fn mass_properties(&self) -> &MassProperties {
&self.rb_mprops.mass_properties
&self.rb_mprops.local_mprops
}
/// The dominance group of this rigid-body.
@@ -256,7 +255,7 @@ impl RigidBody {
self.wake_up(true);
}
self.rb_mprops.mass_properties = props;
self.rb_mprops.local_mprops = props;
self.update_world_mass_properties();
}
@@ -290,7 +289,7 @@ impl RigidBody {
///
/// Returns zero if this rigid body has an infinite mass.
pub fn mass(&self) -> Real {
utils::inv(self.rb_mprops.mass_properties.inv_mass)
utils::inv(self.rb_mprops.local_mprops.inv_mass)
}
/// The predicted position of this rigid-body.
@@ -335,7 +334,7 @@ impl RigidBody {
co_parent: &ColliderParent,
co_pos: &mut ColliderPosition,
co_shape: &ColliderShape,
co_mprops: &ColliderMassProperties,
co_mprops: &ColliderMassProps,
) {
self.rb_colliders.attach_collider(
&mut self.changes,
@@ -359,7 +358,7 @@ impl RigidBody {
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent().unwrap());
self.rb_mprops.mass_properties -= mass_properties;
self.rb_mprops.local_mprops -= mass_properties;
self.update_world_mass_properties();
}
}
@@ -463,8 +462,8 @@ impl RigidBody {
/// The translational part of this rigid-body's position.
#[inline]
pub fn translation(&self) -> Vector<Real> {
self.rb_pos.position.translation.vector
pub fn translation(&self) -> &Vector<Real> {
&self.rb_pos.position.translation.vector
}
/// Sets the translational part of this rigid-body's position.
@@ -482,8 +481,8 @@ impl RigidBody {
/// The translational part of this rigid-body's position.
#[inline]
pub fn rotation(&self) -> Rotation<Real> {
self.rb_pos.position.rotation
pub fn rotation(&self) -> &Rotation<Real> {
&self.rb_pos.position.rotation
}
/// Sets the rotational part of this rigid-body's position.
@@ -692,7 +691,7 @@ impl RigidBody {
pub fn gravitational_potential_energy(&self, dt: Real, gravity: Vector<Real>) -> Real {
let world_com = self
.rb_mprops
.mass_properties
.local_mprops
.world_com(&self.rb_pos.position)
.coords;
@@ -979,7 +978,7 @@ impl RigidBodyBuilder {
rb.rb_vels.angvel = self.angvel;
rb.rb_type = self.rb_type;
rb.user_data = self.user_data;
rb.rb_mprops.mass_properties = self.mass_properties;
rb.rb_mprops.local_mprops = self.mass_properties;
rb.rb_mprops.flags = self.mprops_flags;
rb.rb_damping.linear_damping = self.linear_damping;
rb.rb_damping.angular_damping = self.angular_damping;

46
src/dynamics/rigid_body_components.rs
View File

@@ -1,7 +1,7 @@
use crate::data::{ComponentSetMut, ComponentSetOption};
use crate::dynamics::MassProperties;
use crate::geometry::{
ColliderChanges, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
ColliderChanges, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition,
ColliderShape, InteractionGraph, RigidBodyGraphIndex,
};
use crate::math::{AngVector, AngularInertia, Isometry, Point, Real, Translation, Vector};
@@ -166,7 +166,7 @@ impl RigidBodyPosition {
mprops: &RigidBodyMassProps,
) -> Isometry<Real> {
let new_vels = forces.integrate(dt, vels, mprops);
new_vels.integrate(dt, &self.position, &mprops.mass_properties.local_com)
new_vels.integrate(dt, &self.position, &mprops.local_mprops.local_com)
}
}
@@ -208,7 +208,7 @@ pub struct RigidBodyMassProps {
/// Flags for locking rotation and translation.
pub flags: RigidBodyMassPropsFlags,
/// The local mass properties of the rigid-body.
pub mass_properties: MassProperties,
pub local_mprops: MassProperties,
/// The world-space center of mass of the rigid-body.
pub world_com: Point<Real>,
/// The inverse mass taking into account translation locking.
@@ -222,7 +222,7 @@ impl Default for RigidBodyMassProps {
fn default() -> Self {
Self {
flags: RigidBodyMassPropsFlags::empty(),
mass_properties: MassProperties::zero(),
local_mprops: MassProperties::zero(),
world_com: Point::origin(),
effective_inv_mass: 0.0,
effective_world_inv_inertia_sqrt: AngularInertia::zero(),
@@ -239,11 +239,20 @@ impl From<RigidBodyMassPropsFlags> for RigidBodyMassProps {
}
}
impl From<MassProperties> for RigidBodyMassProps {
fn from(local_mprops: MassProperties) -> Self {
Self {
local_mprops,
..Default::default()
}
}
}
impl RigidBodyMassProps {
/// The mass of the rigid-body.
#[must_use]
pub fn mass(&self) -> Real {
crate::utils::inv(self.mass_properties.inv_mass)
crate::utils::inv(self.local_mprops.inv_mass)
}
/// The effective mass (that takes the potential translation locking into account) of
@@ -255,11 +264,10 @@ impl RigidBodyMassProps {
/// Update the world-space mass properties of `self`, taking into account the new position.
pub fn update_world_mass_properties(&mut self, position: &Isometry<Real>) {
self.world_com = self.mass_properties.world_com(&position);
self.effective_inv_mass = self.mass_properties.inv_mass;
self.effective_world_inv_inertia_sqrt = self
.mass_properties
.world_inv_inertia_sqrt(&position.rotation);
self.world_com = self.local_mprops.world_com(&position);
self.effective_inv_mass = self.local_mprops.inv_mass;
self.effective_world_inv_inertia_sqrt =
self.local_mprops.world_inv_inertia_sqrt(&position.rotation);
// Take into account translation/rotation locking.
if self
@@ -665,7 +673,7 @@ impl RigidBodyColliders {
co_pos: &mut ColliderPosition,
co_parent: &ColliderParent,
co_shape: &ColliderShape,
co_mprops: &ColliderMassProperties,
co_mprops: &ColliderMassProps,
) {
rb_changes.set(
RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
@@ -684,7 +692,7 @@ impl RigidBodyColliders {
.mass_properties(&**co_shape)
.transform_by(&co_parent.pos_wrt_parent);
self.0.push(co_handle);
rb_mprops.mass_properties += mass_properties;
rb_mprops.local_mprops += mass_properties;
rb_mprops.update_world_mass_properties(&rb_pos.position);
}
@@ -759,7 +767,7 @@ pub struct RigidBodyActivation {
impl Default for RigidBodyActivation {
fn default() -> Self {
Self::new_active()
Self::active()
}
}
@@ -770,7 +778,7 @@ impl RigidBodyActivation {
}
/// Create a new rb_activation status initialised with the default rb_activation threshold and is active.
pub fn new_active() -> Self {
pub fn active() -> Self {
RigidBodyActivation {
threshold: Self::default_threshold(),
energy: Self::default_threshold() * 4.0,
@@ -779,7 +787,7 @@ impl RigidBodyActivation {
}
/// Create a new rb_activation status initialised with the default rb_activation threshold and is inactive.
pub fn new_inactive() -> Self {
pub fn inactive() -> Self {
RigidBodyActivation {
threshold: Self::default_threshold(),
energy: 0.0,
@@ -787,6 +795,14 @@ impl RigidBodyActivation {
}
}
/// Create a new activation status that prevents the rigid-body from sleeping.
pub fn cannot_sleep() -> Self {
RigidBodyActivation {
threshold: -Real::MAX,
..Self::active()
}
}
/// Returns `true` if the body is not asleep.
#[inline]
pub fn is_active(&self) -> bool {

4
src/dynamics/solver/island_solver.rs
View File

@@ -113,7 +113,7 @@ impl IslandSolver {
let mut new_poss = *poss;
let new_vels = vels.apply_damping(params.dt, damping);
new_poss.next_position =
vels.integrate(params.dt, &poss.position, &mprops.mass_properties.local_com);
vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
bodies.set_internal(handle.0, new_vels);
bodies.set_internal(handle.0, new_poss);
@@ -140,7 +140,7 @@ impl IslandSolver {
.integrate(params.dt, vels, mprops)
.apply_damping(params.dt, &damping);
new_poss.next_position =
vels.integrate(params.dt, &poss.position, &mprops.mass_properties.local_com);
vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
bodies.set_internal(handle.0, new_vels);
bodies.set_internal(handle.0, new_poss);

8
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
View File

@@ -34,8 +34,8 @@ impl BallPositionConstraint {
let (mprops2, ids2) = rb2;
Self {
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
im1: mprops1.effective_inv_mass,
im2: mprops2.effective_inv_mass,
ii1: mprops1.effective_world_inv_inertia_sqrt.squared(),
@@ -131,7 +131,7 @@ impl BallPositionGroundConstraint {
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
}
} else {
Self {
@@ -140,7 +140,7 @@ impl BallPositionGroundConstraint {
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
}
}
}

6
src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
View File

@@ -40,8 +40,8 @@ impl WBallPositionConstraint {
let (mprops1, ids1) = rbs1;
let (mprops2, ids2) = rbs2;
let local_com1 = Point::from(gather![|ii| mprops1[ii].mass_properties.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
let local_com1 = Point::from(gather![|ii| mprops1[ii].local_mprops.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
let im1 = SimdReal::from(gather![|ii| mprops1[ii].effective_inv_mass]);
let im2 = SimdReal::from(gather![|ii| mprops2[ii].effective_inv_mass]);
let ii1 = AngularInertia::<SimdReal>::from(gather![
@@ -169,7 +169,7 @@ impl WBallPositionGroundConstraint {
cparams[ii].local_anchor2
}]);
let position2 = gather![|ii| ids2[ii].active_set_offset];
let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
Self {
anchor1,

6
src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
View File

@@ -46,8 +46,8 @@ impl FixedPositionConstraint {
im2,
ii1,
ii2,
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
lin_inv_lhs,
ang_inv_lhs,
}
@@ -125,7 +125,7 @@ impl FixedPositionGroundConstraint {
position2: ids2.active_set_offset,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
impulse: 0.0,
}
}

6
src/dynamics/solver/joint_constraint/generic_position_constraint.rs
View File

@@ -41,8 +41,8 @@ impl GenericPositionConstraint {
im2,
ii1,
ii2,
local_com1: rb1.mass_properties.local_com,
local_com2: rb2.mass_properties.local_com,
local_com1: rb1.local_mprops.local_com,
local_com2: rb2.local_mprops.local_com,
joint: *joint,
}
}
@@ -215,7 +215,7 @@ impl GenericPositionGroundConstraint {
position2: rb2.active_set_offset,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_com2: rb2.mass_properties.local_com,
local_com2: rb2.local_mprops.local_com,
joint: *joint,
}
}

6
src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
View File

@@ -51,8 +51,8 @@ impl RevolutePositionConstraint {
ii1,
ii2,
ang_inv_lhs,
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
local_anchor1: cparams.local_anchor1,
local_anchor2: cparams.local_anchor2,
local_axis1: cparams.local_axis1,
@@ -183,7 +183,7 @@ impl RevolutePositionGroundConstraint {
local_anchor2,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
axis1,
local_axis2,
position2: ids2.active_set_offset,

2
src/dynamics/solver/parallel_island_solver.rs
View File

@@ -392,7 +392,7 @@ impl ParallelIslandSolver {
let new_rb_vels = new_rb_vels.apply_damping(params.dt, rb_damping);
new_rb_pos.next_position =
new_rb_vels.integrate(params.dt, &rb_pos.position, &rb_mprops.mass_properties.local_com);
new_rb_vels.integrate(params.dt, &rb_pos.position, &rb_mprops.local_mprops.local_com);
bodies.set_internal(handle.0, new_rb_vels);
bodies.set_internal(handle.0, new_rb_pos);