Split rigid-bodies and colliders into multiple components

examples2d/one_way_platforms2.rs

@@ -9,12 +9,15 @@ struct OneWayPlatformHook {
     platform2: ColliderHandle,
 }
 
-impl PhysicsHooks for OneWayPlatformHook {
+impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
     fn active_hooks(&self) -> PhysicsHooksFlags {
         PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS
     }
 
-    fn modify_solver_contacts(&self, context: &mut ContactModificationContext) {
+    fn modify_solver_contacts(
+        &self,
+        context: &mut ContactModificationContext<RigidBodySet, ColliderSet>,
+    ) {
         // The allowed normal for the first platform is its local +y axis, and the
         // allowed normal for the second platform is its local -y axis.
         //
@@ -29,16 +32,16 @@ impl PhysicsHooks for OneWayPlatformHook {
         // - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
         let mut allowed_local_n1 = Vector2::zeros();
 
-        if context.collider_handle1 == self.platform1 {
+        if context.collider1 == self.platform1 {
             allowed_local_n1 = Vector2::y();
-        } else if context.collider_handle2 == self.platform1 {
+        } else if context.collider2 == self.platform1 {
             // Flip the allowed direction.
             allowed_local_n1 = -Vector2::y();
         }
 
-        if context.collider_handle1 == self.platform2 {
+        if context.collider1 == self.platform2 {
             allowed_local_n1 = -Vector2::y();
-        } else if context.collider_handle2 == self.platform2 {
+        } else if context.collider2 == self.platform2 {
             // Flip the allowed direction.
             allowed_local_n1 = Vector2::y();
         }
@@ -47,13 +50,12 @@ impl PhysicsHooks for OneWayPlatformHook {
         context.update_as_oneway_platform(&allowed_local_n1, 0.1);
 
         // Set the surface velocity of the accepted contacts.
-        let tangent_velocity = if context.collider_handle1 == self.platform1
-            || context.collider_handle2 == self.platform2
-        {
-            -12.0
-        } else {
-            12.0
-        };
+        let tangent_velocity =
+            if context.collider1 == self.platform1 || context.collider2 == self.platform2 {
+                -12.0
+            } else {
+                12.0
+            };
 
         for contact in context.solver_contacts.iter_mut() {
             contact.tangent_velocity.x = tangent_velocity;
@@ -115,13 +117,14 @@ pub fn init_world(testbed: &mut Testbed) {
             }
         }
 
-        physics.bodies.foreach_active_dynamic_body_mut(|_, body| {
+        for handle in physics.islands.active_dynamic_bodies() {
+            let body = &mut physics.bodies[*handle];
             if body.position().translation.y > 1.0 {
                 body.set_gravity_scale(1.0, false);
             } else if body.position().translation.y < -1.0 {
                 body.set_gravity_scale(-1.0, false);
             }
-        });
+        }
     });
 
     /*