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Use the publish-subscribe mechanism to handle collider removals across pipelines.

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This commit is contained in:
Crozet Sébastien
2020-10-05 19:04:18 +02:00
parent 2d0a888484
commit 93aa7b6e1e
11 changed files with 236 additions and 174 deletions
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110
src/geometry/narrow_phase.rs
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@@ -14,13 +14,16 @@ use crate::geometry::proximity_detector::{
// proximity_detector::ProximityDetectionContextSimd, WBall,
//};
use crate::geometry::{
BroadPhasePairEvent, ColliderHandle, ContactEvent, ProximityEvent, ProximityPair,
BroadPhasePairEvent, Collider, ColliderGraphIndex, ColliderHandle, ContactEvent,
ProximityEvent, ProximityPair, RemovedCollider,
};
use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
//#[cfg(feature = "simd-is-enabled")]
//use crate::math::{SimdFloat, SIMD_WIDTH};
use crate::data::pubsub::PubSubCursor;
use crate::ncollide::query::Proximity;
use crate::pipeline::EventHandler;
use std::collections::HashMap;
//use simba::simd::SimdValue;
/// The narrow-phase responsible for computing precise contact information between colliders.
@@ -28,6 +31,7 @@ use crate::pipeline::EventHandler;
pub struct NarrowPhase {
contact_graph: InteractionGraph<ContactPair>,
proximity_graph: InteractionGraph<ProximityPair>,
removed_colliders: Option<PubSubCursor<RemovedCollider>>,
// ball_ball: Vec<usize>, // Workspace: Vec<*mut ContactPair>,
// shape_shape: Vec<usize>, // Workspace: Vec<*mut ContactPair>,
// ball_ball_prox: Vec<usize>, // Workspace: Vec<*mut ProximityPair>,
@@ -42,6 +46,7 @@ impl NarrowPhase {
Self {
contact_graph: InteractionGraph::new(),
proximity_graph: InteractionGraph::new(),
removed_colliders: None,
// ball_ball: Vec::new(),
// shape_shape: Vec::new(),
// ball_ball_prox: Vec::new(),
@@ -73,45 +78,84 @@ impl NarrowPhase {
// &mut self.contact_graph.interactions
// }
pub(crate) fn remove_colliders(
/// Maintain the narrow-phase internal state by taking collider removal into account.
pub fn maintain(&mut self, colliders: &mut ColliderSet, bodies: &mut RigidBodySet) {
// Ensure we already subscribed.
if self.removed_colliders.is_none() {
self.removed_colliders = Some(colliders.removed_colliders.subscribe());
}
let mut cursor = self.removed_colliders.take().unwrap();
// TODO: avoid these hash-maps.
// They are necessary to handle the swap-remove done internally
// by the contact/proximity graphs when a node is removed.
let mut prox_id_remap = HashMap::new();
let mut contact_id_remap = HashMap::new();
for i in 0.. {
if let Some(collider) = colliders.removed_colliders.read_ith(&cursor, i) {
let proximity_graph_id = prox_id_remap
.get(&collider.handle)
.copied()
.unwrap_or(collider.proximity_graph_index);
let contact_graph_id = contact_id_remap
.get(&collider.handle)
.copied()
.unwrap_or(collider.contact_graph_index);
self.remove_collider(
proximity_graph_id,
contact_graph_id,
colliders,
bodies,
&mut prox_id_remap,
&mut contact_id_remap,
);
} else {
break;
}
}
colliders.removed_colliders.ack(&mut cursor);
self.removed_colliders = Some(cursor);
}
pub(crate) fn remove_collider<'a>(
&mut self,
handles: &[ColliderHandle],
proximity_graph_id: ColliderGraphIndex,
contact_graph_id: ColliderGraphIndex,
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
prox_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
contact_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
) {
for handle in handles {
if let Some(collider) = colliders.get(*handle) {
let proximity_graph_id = collider.proximity_graph_index;
let contact_graph_id = collider.contact_graph_index;
// 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, true)
}
// 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, true)
}
if let Some(parent) = colliders.get(b).map(|c| c.parent) {
bodies.wake_up(parent, true)
}
}
if let Some(parent) = colliders.get(b).map(|c| c.parent) {
bodies.wake_up(parent, true)
}
}
// We have to manage the fact that one other collider will
// have its graph index changed because of the node's swap-remove.
if let Some(replacement) = self.proximity_graph.remove_node(proximity_graph_id) {
if let Some(replacement) = colliders.get_mut(replacement) {
replacement.proximity_graph_index = proximity_graph_id;
} else {
prox_id_remap.insert(replacement, proximity_graph_id);
}
}
// We have to manage the fact that one other collider will
// have its graph index changed because of the node's swap-remove.
if let Some(replacement) = self
.proximity_graph
.remove_node(proximity_graph_id)
.and_then(|h| colliders.get_mut(h))
{
replacement.proximity_graph_index = proximity_graph_id;
}
if let Some(replacement) = self
.contact_graph
.remove_node(contact_graph_id)
.and_then(|h| colliders.get_mut(h))
{
replacement.contact_graph_index = contact_graph_id;
}
if let Some(replacement) = self.contact_graph.remove_node(contact_graph_id) {
if let Some(replacement) = colliders.get_mut(replacement) {
replacement.contact_graph_index = contact_graph_id;
} else {
contact_id_remap.insert(replacement, contact_graph_id);
}
}
}