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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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24
src/pipeline/collision_pipeline.rs
View File

@@ -84,28 +84,4 @@ impl CollisionPipeline {
bodies.modified_inactive_set.clear();
}
/// Remove a rigid-body and all its associated data.
pub fn remove_rigid_body(
&mut self,
handle: RigidBodyHandle,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
) -> Option<RigidBody> {
// Remove the body.
let body = bodies.remove_internal(handle)?;
// Remove this rigid-body from the broad-phase and narrow-phase.
broad_phase.remove_colliders(&body.colliders, colliders);
narrow_phase.remove_colliders(&body.colliders, colliders, bodies);
// Remove all colliders attached to this body.
for collider in &body.colliders {
colliders.remove_internal(*collider);
}
Some(body)
}
}

65
src/pipeline/physics_pipeline.rs
View File

@@ -1,6 +1,7 @@
//! Physics pipeline structures.
use crate::counters::Counters;
use crate::data::pubsub::PubSubCursor;
#[cfg(not(feature = "parallel"))]
use crate::dynamics::IslandSolver;
use crate::dynamics::{IntegrationParameters, JointSet, RigidBody, RigidBodyHandle, RigidBodySet};
@@ -8,7 +9,7 @@ use crate::dynamics::{IntegrationParameters, JointSet, RigidBody, RigidBodyHandl
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, Collider, ColliderHandle, ColliderPair, ColliderSet,
ContactManifoldIndex, NarrowPhase,
ContactManifoldIndex, NarrowPhase, RemovedCollider,
};
use crate::math::Vector;
use crate::pipeline::EventHandler;
@@ -59,6 +60,18 @@ impl PhysicsPipeline {
}
}
/// Remove this.
pub fn maintain(
&mut self,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
) {
// broad_phase.maintain(colliders);
// narrow_phase.maintain(colliders, bodies);
}
/// Executes one timestep of the physics simulation.
pub fn step(
&mut self,
@@ -73,6 +86,7 @@ impl PhysicsPipeline {
) {
// println!("Step");
self.counters.step_started();
self.maintain(broad_phase, narrow_phase, bodies, colliders);
bodies.maintain_active_set();
// Update kinematic bodies velocities.
@@ -249,55 +263,6 @@ impl PhysicsPipeline {
bodies.modified_inactive_set.clear();
self.counters.step_completed();
}
/// Remove a collider and all its associated data.
pub fn remove_collider(
&mut self,
handle: ColliderHandle,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
) -> Option<Collider> {
broad_phase.remove_colliders(&[handle], colliders);
narrow_phase.remove_colliders(&[handle], colliders, bodies);
let collider = colliders.remove_internal(handle)?;
if let Some(parent) = bodies.get_mut_internal(collider.parent) {
parent.remove_collider_internal(handle, &collider);
bodies.wake_up(collider.parent, true);
}
Some(collider)
}
/// Remove a rigid-body and all its associated data.
pub fn remove_rigid_body(
&mut self,
handle: RigidBodyHandle,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
) -> Option<RigidBody> {
// Remove the body.
let body = bodies.remove_internal(handle)?;
// Remove this rigid-body from the broad-phase and narrow-phase.
broad_phase.remove_colliders(&body.colliders, colliders);
narrow_phase.remove_colliders(&body.colliders, colliders, bodies);
// Remove all joints attached to this body.
joints.remove_rigid_body(body.joint_graph_index, bodies);
// Remove all colliders attached to this body.
for collider in &body.colliders {
colliders.remove_internal(*collider);
}
Some(body)
}
}
#[cfg(test)]