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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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216
src/geometry/narrow_phase.rs
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@@ -22,17 +22,35 @@ use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGrap
//#[cfg(feature = "simd-is-enabled")]
//use crate::math::{SimdFloat, SIMD_WIDTH};
use crate::data::pubsub::Subscription;
use crate::data::Coarena;
use crate::ncollide::query::Proximity;
use crate::pipeline::EventHandler;
use std::collections::HashMap;
//use simba::simd::SimdValue;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
struct ColliderGraphIndices {
contact_graph_index: ColliderGraphIndex,
proximity_graph_index: ColliderGraphIndex,
}
impl ColliderGraphIndices {
fn invalid() -> Self {
Self {
contact_graph_index: InteractionGraph::<ContactPair>::invalid_graph_index(),
proximity_graph_index: InteractionGraph::<ProximityPair>::invalid_graph_index(),
}
}
}
/// The narrow-phase responsible for computing precise contact information between colliders.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
pub struct NarrowPhase {
contact_graph: InteractionGraph<ContactPair>,
proximity_graph: InteractionGraph<ProximityPair>,
graph_indices: Coarena<ColliderGraphIndices>,
removed_colliders: Option<Subscription<RemovedCollider>>,
// ball_ball: Vec<usize>, // Workspace: Vec<*mut ContactPair>,
// shape_shape: Vec<usize>, // Workspace: Vec<*mut ContactPair>,
@@ -48,6 +66,7 @@ impl NarrowPhase {
Self {
contact_graph: InteractionGraph::new(),
proximity_graph: InteractionGraph::new(),
graph_indices: Coarena::new(),
removed_colliders: None,
// ball_ball: Vec::new(),
// shape_shape: Vec::new(),
@@ -66,6 +85,27 @@ impl NarrowPhase {
&self.proximity_graph
}
/// All the contacts involving the given collider.
pub fn contacts_with(
&self,
collider: ColliderHandle,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
let id = self.graph_indices.get(collider)?;
Some(self.contact_graph.interactions_with(id.contact_graph_index))
}
/// All the proximities involving the given collider.
pub fn proximities_with(
&self,
collider: ColliderHandle,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ProximityPair)>> {
let id = self.graph_indices.get(collider)?;
Some(
self.proximity_graph
.interactions_with(id.proximity_graph_index),
)
}
// #[cfg(feature = "parallel")]
// pub fn contact_pairs(&self) -> &[ContactPair] {
// &self.contact_graph.interactions
@@ -94,29 +134,30 @@ impl NarrowPhase {
// by the contact/proximity graphs when a node is removed.
let mut prox_id_remap = HashMap::new();
let mut contact_id_remap = HashMap::new();
let mut i = 0;
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);
while let Some(collider) = colliders.removed_colliders.read_ith(&cursor, i) {
let graph_idx = self.graph_indices.get(collider.handle).unwrap();
self.remove_collider(
proximity_graph_id,
contact_graph_id,
colliders,
bodies,
&mut prox_id_remap,
&mut contact_id_remap,
);
} else {
break;
}
let proximity_graph_id = prox_id_remap
.get(&collider.handle)
.copied()
.unwrap_or(graph_idx.proximity_graph_index);
let contact_graph_id = contact_id_remap
.get(&collider.handle)
.copied()
.unwrap_or(graph_idx.contact_graph_index);
self.remove_collider(
proximity_graph_id,
contact_graph_id,
colliders,
bodies,
&mut prox_id_remap,
&mut contact_id_remap,
);
i += 1;
}
colliders.removed_colliders.ack(&mut cursor);
@@ -146,7 +187,7 @@ impl NarrowPhase {
// 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) {
if let Some(replacement) = self.graph_indices.get_mut(replacement) {
replacement.proximity_graph_index = proximity_graph_id;
} else {
prox_id_remap.insert(replacement, proximity_graph_id);
@@ -154,7 +195,7 @@ impl NarrowPhase {
}
if let Some(replacement) = self.contact_graph.remove_node(contact_graph_id) {
if let Some(replacement) = colliders.get_mut(replacement) {
if let Some(replacement) = self.graph_indices.get_mut(replacement) {
replacement.contact_graph_index = contact_graph_id;
} else {
contact_id_remap.insert(replacement, contact_graph_id);
@@ -172,69 +213,87 @@ impl NarrowPhase {
for event in broad_phase_events {
match event {
BroadPhasePairEvent::AddPair(pair) => {
// println!("Adding pair: {:?}", *pair);
if let (Some(co1), Some(co2)) =
colliders.get2_mut_internal(pair.collider1, pair.collider2)
(colliders.get(pair.collider1), colliders.get(pair.collider2))
{
if co1.parent == co2.parent {
// Same parents. Ignore collisions.
continue;
}
if co1.is_sensor() || co2.is_sensor() {
let gid1 = co1.proximity_graph_index;
let gid2 = co2.proximity_graph_index;
let (gid1, gid2) = self.graph_indices.ensure_pair_exists(
pair.collider1,
pair.collider2,
ColliderGraphIndices::invalid(),
);
if co1.is_sensor() || co2.is_sensor() {
// NOTE: the collider won't have a graph index as long
// as it does not interact with anything.
if !InteractionGraph::<ProximityPair>::is_graph_index_valid(gid1) {
co1.proximity_graph_index =
if !InteractionGraph::<ProximityPair>::is_graph_index_valid(
gid1.proximity_graph_index,
) {
gid1.proximity_graph_index =
self.proximity_graph.graph.add_node(pair.collider1);
}
if !InteractionGraph::<ProximityPair>::is_graph_index_valid(gid2) {
co2.proximity_graph_index =
if !InteractionGraph::<ProximityPair>::is_graph_index_valid(
gid2.proximity_graph_index,
) {
gid2.proximity_graph_index =
self.proximity_graph.graph.add_node(pair.collider2);
}
if self.proximity_graph.graph.find_edge(gid1, gid2).is_none() {
if self
.proximity_graph
.graph
.find_edge(gid1.proximity_graph_index, gid2.proximity_graph_index)
.is_none()
{
let dispatcher = DefaultProximityDispatcher;
let generator = dispatcher
.dispatch(co1.shape().shape_type(), co2.shape().shape_type());
let interaction =
ProximityPair::new(*pair, generator.0, generator.1);
let _ = self.proximity_graph.add_edge(
co1.proximity_graph_index,
co2.proximity_graph_index,
gid1.proximity_graph_index,
gid2.proximity_graph_index,
interaction,
);
}
} else {
// NOTE: same code as above, but for the contact graph.
// TODO: refactor both pieces of code somehow?
let gid1 = co1.contact_graph_index;
let gid2 = co2.contact_graph_index;
// NOTE: the collider won't have a graph index as long
// as it does not interact with anything.
if !InteractionGraph::<ContactPair>::is_graph_index_valid(gid1) {
co1.contact_graph_index =
if !InteractionGraph::<ContactPair>::is_graph_index_valid(
gid1.contact_graph_index,
) {
gid1.contact_graph_index =
self.contact_graph.graph.add_node(pair.collider1);
}
if !InteractionGraph::<ContactPair>::is_graph_index_valid(gid2) {
co2.contact_graph_index =
if !InteractionGraph::<ContactPair>::is_graph_index_valid(
gid2.contact_graph_index,
) {
gid2.contact_graph_index =
self.contact_graph.graph.add_node(pair.collider2);
}
if self.contact_graph.graph.find_edge(gid1, gid2).is_none() {
if self
.contact_graph
.graph
.find_edge(gid1.contact_graph_index, gid2.contact_graph_index)
.is_none()
{
let dispatcher = DefaultContactDispatcher;
let generator = dispatcher
.dispatch(co1.shape().shape_type(), co2.shape().shape_type());
let interaction = ContactPair::new(*pair, generator.0, generator.1);
let _ = self.contact_graph.add_edge(
co1.contact_graph_index,
co2.contact_graph_index,
gid1.contact_graph_index,
gid2.contact_graph_index,
interaction,
);
}
@@ -243,41 +302,50 @@ impl NarrowPhase {
}
BroadPhasePairEvent::DeletePair(pair) => {
if let (Some(co1), Some(co2)) =
colliders.get2_mut_internal(pair.collider1, pair.collider2)
(colliders.get(pair.collider1), colliders.get(pair.collider2))
{
if co1.is_sensor() || co2.is_sensor() {
let prox_pair = self
.proximity_graph
.remove_edge(co1.proximity_graph_index, co2.proximity_graph_index);
// TODO: could we just unwrap here?
// Don't we have the guarantee that we will get a `AddPair` before a `DeletePair`?
if let (Some(gid1), Some(gid2)) = (
self.graph_indices.get(pair.collider1),
self.graph_indices.get(pair.collider2),
) {
if co1.is_sensor() || co2.is_sensor() {
let prox_pair = self.proximity_graph.remove_edge(
gid1.proximity_graph_index,
gid2.proximity_graph_index,
);
// Emit a proximity lost event if we had a proximity before removing the edge.
if let Some(prox) = prox_pair {
if prox.proximity != Proximity::Disjoint {
let prox_event = ProximityEvent::new(
pair.collider1,
pair.collider2,
prox.proximity,
Proximity::Disjoint,
);
events.handle_proximity_event(prox_event)
// Emit a proximity lost event if we had a proximity before removing the edge.
if let Some(prox) = prox_pair {
if prox.proximity != Proximity::Disjoint {
let prox_event = ProximityEvent::new(
pair.collider1,
pair.collider2,
prox.proximity,
Proximity::Disjoint,
);
events.handle_proximity_event(prox_event)
}
}
}
} else {
let contact_pair = self
.contact_graph
.remove_edge(co1.contact_graph_index, co2.contact_graph_index);
} else {
let contact_pair = self.contact_graph.remove_edge(
gid1.contact_graph_index,
gid2.contact_graph_index,
);
// Emit a contact stopped event if we had a contact before removing the edge.
// Also wake up the dynamic bodies that were in contact.
if let Some(ctct) = contact_pair {
if ctct.has_any_active_contact() {
bodies.wake_up(co1.parent, true);
bodies.wake_up(co2.parent, true);
// Emit a contact stopped event if we had a contact before removing the edge.
// Also wake up the dynamic bodies that were in contact.
if let Some(ctct) = contact_pair {
if ctct.has_any_active_contact() {
bodies.wake_up(co1.parent, true);
bodies.wake_up(co2.parent, true);
events.handle_contact_event(ContactEvent::Stopped(
pair.collider1,
pair.collider2,
))
events.handle_contact_event(ContactEvent::Stopped(
pair.collider1,
pair.collider2,
))
}
}
}
}