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Remove the narrow-phase graph indices from the collider.

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They are on the narrow-phase now.
This commit is contained in:
Crozet Sébastien
2020-11-19 11:07:00 +01:00
parent c641114f01
commit af39ec54d3
8 changed files with 235 additions and 101 deletions
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32
src/dynamics/rigid_body_set.rs
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@@ -3,7 +3,7 @@ use rayon::prelude::*;
use crate::data::arena::Arena;
use crate::dynamics::{BodyStatus, Joint, JointSet, RigidBody};
use crate::geometry::{ColliderHandle, ColliderSet, ContactPair, InteractionGraph};
use crate::geometry::{ColliderHandle, ColliderSet, ContactPair, InteractionGraph, NarrowPhase};
use crossbeam::channel::{Receiver, Sender};
use std::ops::{Deref, DerefMut, Index, IndexMut};
@@ -452,7 +452,7 @@ impl RigidBodySet {
pub(crate) fn update_active_set_with_contacts(
&mut self,
colliders: &ColliderSet,
contact_graph: &InteractionGraph<ContactPair>,
narrow_phase: &NarrowPhase,
joint_graph: &InteractionGraph<Joint>,
min_island_size: usize,
) {
@@ -491,20 +491,22 @@ impl RigidBodySet {
fn push_contacting_colliders(
rb: &RigidBody,
colliders: &ColliderSet,
contact_graph: &InteractionGraph<ContactPair>,
narrow_phase: &NarrowPhase,
stack: &mut Vec<ColliderHandle>,
) {
for collider_handle in &rb.colliders {
let collider = &colliders[*collider_handle];
for inter in contact_graph.interactions_with(collider.contact_graph_index) {
for manifold in &inter.2.manifolds {
if manifold.num_active_contacts() > 0 {
let other =
crate::utils::other_handle((inter.0, inter.1), *collider_handle);
let other_body = colliders[other].parent;
stack.push(other_body);
break;
if let Some(contacts) = narrow_phase.contacts_with(*collider_handle) {
for inter in contacts {
for manifold in &inter.2.manifolds {
if manifold.num_active_contacts() > 0 {
let other = crate::utils::other_handle(
(inter.0, inter.1),
*collider_handle,
);
let other_body = colliders[other].parent;
stack.push(other_body);
break;
}
}
}
}
@@ -522,7 +524,7 @@ impl RigidBodySet {
continue;
}
push_contacting_colliders(rb, colliders, contact_graph, &mut self.stack);
push_contacting_colliders(rb, colliders, narrow_phase, &mut self.stack);
}
// println!("Selection: {}", instant::now() - t);
@@ -565,7 +567,7 @@ impl RigidBodySet {
// Transmit the active state to all the rigid-bodies with colliders
// in contact or joined with this collider.
push_contacting_colliders(rb, colliders, contact_graph, &mut self.stack);
push_contacting_colliders(rb, colliders, narrow_phase, &mut self.stack);
for inter in joint_graph.interactions_with(rb.joint_graph_index) {
let other = crate::utils::other_handle((inter.0, inter.1), handle);