Update the testbed to use PhysicsHooks.

src/geometry/collider.rs

@@ -1,5 +1,5 @@
 use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
-use crate::geometry::{InteractionGroups, SharedShape};
+use crate::geometry::{InteractionGroups, SharedShape, SolverFlags};
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
 use crate::parry::transformation::vhacd::VHACDParameters;
 use parry::bounding_volume::AABB;
@@ -50,6 +50,7 @@ pub struct Collider {
     shape: SharedShape,
     density: Real,
     pub(crate) flags: ColliderFlags,
+    pub(crate) solver_flags: SolverFlags,
     pub(crate) parent: RigidBodyHandle,
     pub(crate) delta: Isometry<Real>,
     pub(crate) position: Isometry<Real>,
@@ -159,6 +160,9 @@ pub struct ColliderBuilder {
     pub delta: Isometry<Real>,
     /// Is this collider a sensor?
     pub is_sensor: bool,
+    /// Do we have to always call the contact modifier
+    /// on this collider?
+    pub modify_contacts: bool,
     /// The user-data of the collider being built.
     pub user_data: u128,
     /// The collision groups for the collider being built.
@@ -182,6 +186,7 @@ impl ColliderBuilder {
             solver_groups: InteractionGroups::all(),
             friction_combine_rule: CoefficientCombineRule::Average,
             restitution_combine_rule: CoefficientCombineRule::Average,
+            modify_contacts: false,
         }
     }
 
@@ -456,6 +461,13 @@ impl ColliderBuilder {
         self
     }
 
+    /// If set to `true` then the physics hooks will always run to modify
+    /// contacts involving this collider.
+    pub fn modify_contacts(mut self, modify_contacts: bool) -> Self {
+        self.modify_contacts = modify_contacts;
+        self
+    }
+
     /// Sets the friction coefficient of the collider this builder will build.
     pub fn friction(mut self, friction: Real) -> Self {
         self.friction = friction;
@@ -534,6 +546,8 @@ impl ColliderBuilder {
         flags = flags
             .with_friction_combine_rule(self.friction_combine_rule)
             .with_restitution_combine_rule(self.restitution_combine_rule);
+        let mut solver_flags = SolverFlags::default();
+        solver_flags.set(SolverFlags::MODIFY_SOLVER_CONTACTS, self.modify_contacts);
 
         Collider {
             shape: self.shape.clone(),
@@ -542,6 +556,7 @@ impl ColliderBuilder {
             restitution: self.restitution,
             delta: self.delta,
             flags,
+            solver_flags,
             parent: RigidBodyHandle::invalid(),
             position: Isometry::identity(),
             predicted_position: Isometry::identity(),

src/geometry/contact_pair.rs

@@ -16,6 +16,12 @@ bitflags::bitflags! {
     }
 }
 
+impl Default for SolverFlags {
+    fn default() -> Self {
+        SolverFlags::COMPUTE_IMPULSES
+    }
+}
+
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// A single contact between two collider.
@@ -126,10 +132,11 @@ pub struct SolverContact {
     pub friction: Real,
     /// The effective restitution coefficient at this contact point.
     pub restitution: Real,
-    /// The artificially add relative velocity at the contact point.
+    /// The desired tangent relative velocity at the contact point.
+    ///
     /// This is set to zero by default. Set to a non-zero value to
     /// simulate, e.g., conveyor belts.
-    pub surface_velocity: Vector<Real>,
+    pub tangent_velocity: Vector<Real>,
     /// Associated contact data used to warm-start the constraints
     /// solver.
     pub data: ContactData,

src/geometry/mod.rs

@@ -10,7 +10,6 @@ pub use self::interaction_graph::{
 };
 pub use self::interaction_groups::InteractionGroups;
 pub use self::narrow_phase::NarrowPhase;
-pub use self::pair_filter::{PairFilterContext, PhysicsHooks};
 
 pub use parry::query::TrackedContact;
 
@@ -109,4 +108,3 @@ mod contact_pair;
 mod interaction_graph;
 mod interaction_groups;
 mod narrow_phase;
-mod pair_filter;

src/geometry/narrow_phase.rs

@@ -4,15 +4,15 @@ use rayon::prelude::*;
 use crate::data::pubsub::Subscription;
 use crate::data::Coarena;
 use crate::dynamics::{BodyPair, CoefficientCombineRule, RigidBodySet};
-use crate::geometry::pair_filter::{ContactModificationContext, PhysicsHooksFlags};
 use crate::geometry::{
-    BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactData, ContactEvent,
-    ContactManifoldData, IntersectionEvent, PairFilterContext, PhysicsHooks, RemovedCollider,
-    SolverContact, SolverFlags,
+    BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ColliderSet, ContactData,
+    ContactEvent, ContactManifold, ContactManifoldData, ContactPair, InteractionGraph,
+    IntersectionEvent, RemovedCollider, SolverContact, SolverFlags,
 };
-use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
 use crate::math::{Real, Vector};
-use crate::pipeline::EventHandler;
+use crate::pipeline::{
+    ContactModificationContext, EventHandler, PairFilterContext, PhysicsHooks, PhysicsHooksFlags,
+};
 use parry::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
 use parry::utils::IsometryOpt;
 use std::collections::HashMap;
@@ -518,7 +518,7 @@ impl NarrowPhase {
                     return;
                 }
             } else {
-                SolverFlags::COMPUTE_IMPULSES
+                co1.solver_flags | co2.solver_flags
             };
 
             if !co1.solver_groups.test(co2.solver_groups) {
@@ -573,7 +573,7 @@ impl NarrowPhase {
                             dist: contact.dist,
                             friction,
                             restitution,
-                            surface_velocity: Vector::zeros(),
+                            tangent_velocity: Vector::zeros(),
                             data: contact.data,
                         };