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Rename rigid-body static to fixed

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This commit is contained in:
Sébastien Crozet
2022-03-19 16:23:09 +01:00
committed by Sébastien Crozet
parent db6a8c526d
commit a9e3441ecd
87 changed files with 284 additions and 271 deletions
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2
src/dynamics/ccd/ccd_solver.rs
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@@ -412,7 +412,7 @@ impl CCDSolver {
return PredictedImpacts::ImpactsAfterEndTime(min_overstep);
}
// NOTE: all static bodies (and kinematic bodies?) should be considered as "frozen", this
// NOTE: all fixed bodies (and kinematic bodies?) should be considered as "frozen", this
// may avoid some resweeps.
let mut pseudo_intersections_to_check = vec![];

2
src/dynamics/island_manager.rs
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@@ -259,7 +259,7 @@ impl IslandManager {
if rb_ids.active_set_timestamp == self.active_set_timestamp || !rb_status.is_dynamic() {
// We already visited this body and its neighbors.
// Also, we don't propagate awake state through static bodies.
// Also, we don't propagate awake state through fixed bodies.
continue;
}

50
src/dynamics/rigid_body.rs
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@@ -112,7 +112,7 @@ impl RigidBody {
self.changes.insert(RigidBodyChanges::TYPE);
self.rb_type = status;
if status == RigidBodyType::Static {
if status == RigidBodyType::Fixed {
self.rb_vels = RigidBodyVelocity::zero();
}
}
@@ -372,11 +372,11 @@ impl RigidBody {
self.rb_type.is_kinematic()
}
/// Is this rigid body static?
/// Is this rigid body fixed?
///
/// A static body cannot move and is not affected by forces.
pub fn is_static(&self) -> bool {
self.rb_type == RigidBodyType::Static
/// A fixed body cannot move and is not affected by forces.
pub fn is_fixed(&self) -> bool {
self.rb_type == RigidBodyType::Fixed
}
/// The mass of this rigid body.
@@ -487,7 +487,7 @@ impl RigidBody {
/// Is this rigid body sleeping?
pub fn is_sleeping(&self) -> bool {
// TODO: should we:
// - return false for static bodies.
// - return false for fixed bodies.
// - return true for non-sleeping dynamic bodies.
// - return true only for kinematic bodies with non-zero velocity?
self.rb_activation.sleeping
@@ -531,7 +531,7 @@ impl RigidBody {
RigidBodyType::KinematicVelocityBased => {
self.rb_vels.linvel = linvel;
}
RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
}
}
}
@@ -553,7 +553,7 @@ impl RigidBody {
RigidBodyType::KinematicVelocityBased => {
self.rb_vels.angvel = angvel;
}
RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
}
}
}
@@ -575,7 +575,7 @@ impl RigidBody {
RigidBodyType::KinematicVelocityBased => {
self.rb_vels.angvel = angvel;
}
RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
}
}
}
@@ -905,7 +905,7 @@ pub struct RigidBodyBuilder {
}
impl RigidBodyBuilder {
/// Initialize a new builder for a rigid body which is either static, dynamic, or kinematic.
/// Initialize a new builder for a rigid body which is either fixed, dynamic, or kinematic.
pub fn new(rb_type: RigidBodyType) -> Self {
Self {
position: Isometry::identity(),
@@ -925,23 +925,39 @@ impl RigidBodyBuilder {
}
}
/// Initializes the builder of a new static rigid body.
/// Initializes the builder of a new fixed rigid body.
#[deprecated(note = "use `RigidBodyBuilder::fixed()` instead")]
pub fn new_static() -> Self {
Self::new(RigidBodyType::Static)
Self::fixed()
}
/// Initializes the builder of a new velocity-based kinematic rigid body.
#[deprecated(note = "use `RigidBodyBuilder::kinematic_velocity_based()` instead")]
pub fn new_kinematic_velocity_based() -> Self {
Self::kinematic_velocity_based()
}
/// Initializes the builder of a new position-based kinematic rigid body.
#[deprecated(note = "use `RigidBodyBuilder::kinematic_position_based()` instead")]
pub fn new_kinematic_position_based() -> Self {
Self::kinematic_position_based()
}
/// Initializes the builder of a new kinematic rigid body.
pub fn new_kinematic_velocity_based() -> Self {
/// Initializes the builder of a new fixed rigid body.
pub fn fixed() -> Self {
Self::new(RigidBodyType::Fixed)
}
/// Initializes the builder of a new velocity-based kinematic rigid body.
pub fn kinematic_velocity_based() -> Self {
Self::new(RigidBodyType::KinematicVelocityBased)
}
/// Initializes the builder of a new kinematic rigid body.
pub fn new_kinematic_position_based() -> Self {
/// Initializes the builder of a new position-based kinematic rigid body.
pub fn kinematic_position_based() -> Self {
Self::new(RigidBodyType::KinematicPositionBased)
}
/// Initializes the builder of a new dynamic rigid body.
pub fn new_dynamic() -> Self {
pub fn dynamic() -> Self {
Self::new(RigidBodyType::Dynamic)
}

12
src/dynamics/rigid_body_components.rs
View File

@@ -57,8 +57,8 @@ pub type BodyStatus = RigidBodyType;
pub enum RigidBodyType {
/// A `RigidBodyType::Dynamic` body can be affected by all external forces.
Dynamic = 0,
/// A `RigidBodyType::Static` body cannot be affected by external forces.
Static = 1,
/// A `RigidBodyType::Fixed` body cannot be affected by external forces.
Fixed = 1,
/// A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
/// by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
///
@@ -73,14 +73,14 @@ pub enum RigidBodyType {
/// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
/// modified by the user and is independent from any contact or joint it is involved in.
KinematicVelocityBased = 3,
// Semikinematic, // A kinematic that performs automatic CCD with the static environment to avoid traversing it?
// Semikinematic, // A kinematic that performs automatic CCD with the fixed environment to avoid traversing it?
// Disabled,
}
impl RigidBodyType {
/// Is this rigid-body static (i.e. cannot move)?
pub fn is_static(self) -> bool {
self == RigidBodyType::Static
/// Is this rigid-body fixed (i.e. cannot move)?
pub fn is_fixed(self) -> bool {
self == RigidBodyType::Fixed
}
/// Is this rigid-body dynamic (i.e. can move and be affected by forces)?

42
src/dynamics/solver/interaction_groups.rs
View File

@@ -93,20 +93,20 @@ impl ParallelInteractionGroups {
.zip(self.interaction_colors.iter_mut())
{
let mut body_pair = interactions[*interaction_id].body_pair();
let is_static1 = body_pair
let is_fixed1 = body_pair
.0
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
.unwrap_or(true);
let is_static2 = body_pair
let is_fixed2 = body_pair
.1
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
.unwrap_or(true);
let representative = |handle: RigidBodyHandle| {
if let Some(link) = multibodies.rigid_body_link(handle).copied() {
let multibody = multibodies.get_multibody(link.multibody).unwrap();
multibody
.link(1) // Use the link 1 to cover the case where the multibody root is static.
.link(1) // Use the link 1 to cover the case where the multibody root is fixed.
.or(multibody.link(0)) // TODO: Never happens?
.map(|l| l.rigid_body)
.unwrap()
@@ -120,7 +120,7 @@ impl ParallelInteractionGroups {
body_pair.1.map(representative),
);
match (is_static1, is_static2) {
match (is_fixed1, is_fixed2) {
(false, false) => {
let rb_ids1: &RigidBodyIds = bodies.index(body_pair.0.unwrap().0);
let rb_ids2: &RigidBodyIds = bodies.index(body_pair.1.unwrap().0);
@@ -268,10 +268,10 @@ impl InteractionGroups {
let (status2, ids2): (&RigidBodyType, &RigidBodyIds) =
bodies.index_bundle(interaction.body2.0);
let is_static1 = !status1.is_dynamic();
let is_static2 = !status2.is_dynamic();
let is_fixed1 = !status1.is_dynamic();
let is_fixed2 = !status2.is_dynamic();
if is_static1 && is_static2 {
if is_fixed1 && is_fixed2 {
continue;
}
@@ -334,13 +334,13 @@ impl InteractionGroups {
}
}
// NOTE: static bodies don't transmit forces. Therefore they don't
// NOTE: fixed bodies don't transmit forces. Therefore they don't
// imply any interaction conflicts.
if !is_static1 {
if !is_fixed1 {
self.body_masks[i1] |= target_mask_bit;
}
if !is_static2 {
if !is_fixed2 {
self.body_masks[i2] |= target_mask_bit;
}
}
@@ -431,21 +431,21 @@ impl InteractionGroups {
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb1.0);
(*data.0, data.1.active_set_offset)
} else {
(RigidBodyType::Static, 0)
(RigidBodyType::Fixed, 0)
};
let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
{
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb2.0);
(*data.0, data.1.active_set_offset)
} else {
(RigidBodyType::Static, 0)
(RigidBodyType::Fixed, 0)
};
let is_static1 = !status1.is_dynamic();
let is_static2 = !status2.is_dynamic();
let is_fixed1 = !status1.is_dynamic();
let is_fixed2 = !status2.is_dynamic();
// TODO: don't generate interactions between static bodies in the first place.
if is_static1 && is_static2 {
// TODO: don't generate interactions between fixed bodies in the first place.
if is_fixed1 && is_fixed2 {
continue;
}
@@ -489,13 +489,13 @@ impl InteractionGroups {
occupied_mask = occupied_mask | target_mask_bit;
}
// NOTE: static bodies don't transmit forces. Therefore they don't
// NOTE: fixed bodies don't transmit forces. Therefore they don't
// imply any interaction conflicts.
if !is_static1 {
if !is_fixed1 {
self.body_masks[i1] |= target_mask_bit;
}
if !is_static2 {
if !is_fixed2 {
self.body_masks[i2] |= target_mask_bit;
}
}

4
src/geometry/broad_phase_multi_sap/broad_phase.rs
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@@ -634,7 +634,7 @@ mod test {
let mut multibody_joints = MultibodyJointSet::new();
let mut islands = IslandManager::new();
let rb = RigidBodyBuilder::new_dynamic().build();
let rb = RigidBodyBuilder::dynamic().build();
let co = ColliderBuilder::ball(0.5).build();
let hrb = bodies.insert(rb);
let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
@@ -652,7 +652,7 @@ mod test {
broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
// Create another body.
let rb = RigidBodyBuilder::new_dynamic().build();
let rb = RigidBodyBuilder::dynamic().build();
let co = ColliderBuilder::ball(0.5).build();
let hrb = bodies.insert(rb);
let coh = colliders.insert_with_parent(co, hrb, &mut bodies);

8
src/geometry/collider_components.rs
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@@ -285,18 +285,18 @@ bitflags::bitflags! {
/// and another collider attached to a kinematic body.
const DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100;
/// Enable collision-detection between a collider attached to a dynamic body
/// and another collider attached to a static body (or not attached to any body).
/// and another collider attached to a fixed body (or not attached to any body).
const DYNAMIC_STATIC = 0b0000_0000_0000_0010;
/// Enable collision-detection between a collider attached to a kinematic body
/// and another collider attached to a kinematic body.
const KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000;
/// Enable collision-detection between a collider attached to a kinematic body
/// and another collider attached to a static body (or not attached to any body).
/// and another collider attached to a fixed body (or not attached to any body).
const KINEMATIC_STATIC = 0b0010_0010_0000_0000;
/// Enable collision-detection between a collider attached to a static body (or
/// not attached to any body) and another collider attached to a static body (or
/// Enable collision-detection between a collider attached to a fixed body (or
/// not attached to any body) and another collider attached to a fixed body (or
/// not attached to any body).
const STATIC_STATIC = 0b0000_0000_0010_0000;
}

14
src/geometry/narrow_phase.rs
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@@ -392,7 +392,7 @@ impl NarrowPhase {
// For each modified colliders, we need to wake-up the bodies it is in contact with
// so that the narrow-phase properly takes into account the change in, e.g.,
// collision groups. Waking up the modified collider's parent isn't enough because
// it could be a static or kinematic body which don't propagate the wake-up state.
// it could be a fixed or kinematic body which don't propagate the wake-up state.
let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
let (co_changes, co_type): (&ColliderChanges, &ColliderType) =
@@ -740,8 +740,8 @@ impl NarrowPhase {
}
// TODO: avoid lookup into bodies.
let mut rb_type1 = RigidBodyType::Static;
let mut rb_type2 = RigidBodyType::Static;
let mut rb_type1 = RigidBodyType::Fixed;
let mut rb_type2 = RigidBodyType::Fixed;
if let Some(co_parent1) = co_parent1 {
rb_type1 = *bodies.index(co_parent1.handle.0);
@@ -865,8 +865,8 @@ impl NarrowPhase {
}
// TODO: avoid lookup into bodies.
let mut rb_type1 = RigidBodyType::Static;
let mut rb_type2 = RigidBodyType::Static;
let mut rb_type1 = RigidBodyType::Fixed;
let mut rb_type2 = RigidBodyType::Fixed;
if let Some(co_parent1) = co_parent1 {
rb_type1 = *bodies.index(co_parent1.handle.0);
@@ -1076,7 +1076,7 @@ impl NarrowPhase {
bodies.index_bundle(handle1.0);
(data.0.active_island_id, *data.1, data.2.sleeping)
} else {
(0, RigidBodyType::Static, true)
(0, RigidBodyType::Fixed, true)
};
let (active_island_id2, rb_type2, sleeping2) =
@@ -1085,7 +1085,7 @@ impl NarrowPhase {
bodies.index_bundle(handle2.0);
(data.0.active_island_id, *data.1, data.2.sleeping)
} else {
(0, RigidBodyType::Static, true)
(0, RigidBodyType::Fixed, true)
};
if (rb_type1.is_dynamic() || rb_type2.is_dynamic())

20
src/pipeline/physics_pipeline.rs
View File

@@ -688,7 +688,7 @@ mod test {
use crate::prelude::MultibodyJointSet;
#[test]
fn kinematic_and_static_contact_crash() {
fn kinematic_and_fixed_contact_crash() {
let mut colliders = ColliderSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
@@ -698,13 +698,13 @@ mod test {
let mut bodies = RigidBodySet::new();
let mut islands = IslandManager::new();
let rb = RigidBodyBuilder::new_static().build();
let rb = RigidBodyBuilder::fixed().build();
let h1 = bodies.insert(rb.clone());
let co = ColliderBuilder::ball(10.0).build();
colliders.insert_with_parent(co.clone(), h1, &mut bodies);
// The same but with a kinematic body.
let rb = RigidBodyBuilder::new_kinematic_position_based().build();
let rb = RigidBodyBuilder::kinematic_position_based().build();
let h2 = bodies.insert(rb.clone());
colliders.insert_with_parent(co, h2, &mut bodies);
@@ -737,18 +737,18 @@ mod test {
let mut bodies = RigidBodySet::new();
// Check that removing the body right after inserting it works.
// We add two dynamic bodies, one kinematic body and one static body before removing
// We add two dynamic bodies, one kinematic body and one fixed body before removing
// them. This include a non-regression test where deleting a kimenatic body crashes.
let rb = RigidBodyBuilder::new_dynamic().build();
let rb = RigidBodyBuilder::dynamic().build();
let h1 = bodies.insert(rb.clone());
let h2 = bodies.insert(rb.clone());
// The same but with a kinematic body.
let rb = RigidBodyBuilder::new_kinematic_position_based().build();
let rb = RigidBodyBuilder::kinematic_position_based().build();
let h3 = bodies.insert(rb.clone());
// The same but with a static body.
let rb = RigidBodyBuilder::new_static().build();
// The same but with a fixed body.
let rb = RigidBodyBuilder::fixed().build();
let h4 = bodies.insert(rb.clone());
let to_delete = [h1, h2, h3, h4];
@@ -787,7 +787,7 @@ mod test {
let mut islands = IslandManager::new();
let mut bodies = RigidBodySet::new();
let rb = RigidBodyBuilder::new_dynamic().build();
let rb = RigidBodyBuilder::dynamic().build();
let h1 = bodies.insert(rb.clone());
let h2 = bodies.insert(rb.clone());
let h3 = bodies.insert(rb.clone());
@@ -846,7 +846,7 @@ mod test {
let physics_hooks = ();
let event_handler = ();
let body = RigidBodyBuilder::new_dynamic().build();
let body = RigidBodyBuilder::dynamic().build();
let b_handle = bodies.insert(body);
let collider = ColliderBuilder::ball(1.0).build();
let c_handle = colliders.insert_with_parent(collider, b_handle, &mut bodies);

2
src/pipeline/user_changes.rs
View File

@@ -117,7 +117,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
islands.active_kinematic_set.push(*handle);
}
}
RigidBodyType::Static => {}
RigidBodyType::Fixed => {}
}
}