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Split rigid-bodies and colliders into multiple components

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This commit is contained in:
Crozet Sébastien
2021-04-26 17:59:25 +02:00
parent aaf80bfa87
commit c32da78f2a
91 changed files with 5969 additions and 3653 deletions
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116
src/dynamics/joint/joint_set.rs
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@@ -2,31 +2,33 @@ use super::Joint;
use crate::geometry::{InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex};
use crate::data::arena::Arena;
use crate::dynamics::{JointParams, RigidBodyHandle, RigidBodySet};
use crate::data::{BundleSet, ComponentSet, ComponentSetMut};
use crate::dynamics::{IslandManager, RigidBodyActivation, RigidBodyIds, RigidBodyType};
use crate::dynamics::{JointParams, RigidBodyHandle};
/// The unique identifier of a joint added to the joint set.
/// The unique identifier of a collider added to a collider set.
#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[repr(transparent)]
pub struct JointHandle(pub(crate) crate::data::arena::Index);
pub struct JointHandle(pub crate::data::arena::Index);
impl JointHandle {
/// Converts this handle into its (index, generation) components.
pub fn into_raw_parts(self) -> (usize, u64) {
pub fn into_raw_parts(self) -> (u32, u32) {
self.0.into_raw_parts()
}
/// Reconstructs an handle from its (index, generation) components.
pub fn from_raw_parts(id: usize, generation: u64) -> Self {
pub fn from_raw_parts(id: u32, generation: u32) -> Self {
Self(crate::data::arena::Index::from_raw_parts(id, generation))
}
/// An always-invalid joint handle.
pub fn invalid() -> Self {
Self(crate::data::arena::Index::from_raw_parts(
crate::INVALID_USIZE,
crate::INVALID_U64,
crate::INVALID_U32,
crate::INVALID_U32,
))
}
}
@@ -157,7 +159,7 @@ impl JointSet {
/// Inserts a new joint into this set and retrieve its handle.
pub fn insert<J>(
&mut self,
bodies: &mut RigidBodySet,
bodies: &mut impl ComponentSetMut<RigidBodyIds>,
body1: RigidBodyHandle,
body2: RigidBodyHandle,
joint_params: J,
@@ -177,57 +179,64 @@ impl JointSet {
params: joint_params.into(),
};
let (rb1, rb2) = bodies.get2_mut_internal(joint.body1, joint.body2);
let (rb1, rb2) = (
rb1.expect("Attempt to attach a joint to a non-existing body."),
rb2.expect("Attempt to attach a joint to a non-existing body."),
);
let mut graph_index1 = bodies.index(joint.body1.0).joint_graph_index;
let mut graph_index2 = bodies.index(joint.body2.0).joint_graph_index;
// NOTE: the body won't have a graph index if it does not
// have any joint attached.
if !InteractionGraph::<RigidBodyHandle, Joint>::is_graph_index_valid(rb1.joint_graph_index)
{
rb1.joint_graph_index = self.joint_graph.graph.add_node(joint.body1);
if !InteractionGraph::<RigidBodyHandle, Joint>::is_graph_index_valid(graph_index1) {
graph_index1 = self.joint_graph.graph.add_node(joint.body1);
bodies.map_mut_internal(joint.body1.0, |ids| ids.joint_graph_index = graph_index1);
}
if !InteractionGraph::<RigidBodyHandle, Joint>::is_graph_index_valid(rb2.joint_graph_index)
{
rb2.joint_graph_index = self.joint_graph.graph.add_node(joint.body2);
if !InteractionGraph::<RigidBodyHandle, Joint>::is_graph_index_valid(graph_index2) {
graph_index2 = self.joint_graph.graph.add_node(joint.body2);
bodies.map_mut_internal(joint.body2.0, |ids| ids.joint_graph_index = graph_index2);
}
let id = self
.joint_graph
.add_edge(rb1.joint_graph_index, rb2.joint_graph_index, joint);
self.joint_ids[handle] = id;
self.joint_ids[handle] = self.joint_graph.add_edge(graph_index1, graph_index2, joint);
JointHandle(handle)
}
/// Retrieve all the joints happening between two active bodies.
// NOTE: this is very similar to the code from NarrowPhase::select_active_interactions.
pub(crate) fn select_active_interactions(
pub(crate) fn select_active_interactions<Bodies>(
&self,
bodies: &RigidBodySet,
islands: &IslandManager,
bodies: &Bodies,
out: &mut Vec<Vec<JointIndex>>,
) {
for out_island in &mut out[..bodies.num_islands()] {
) where
Bodies: ComponentSet<RigidBodyType>
+ ComponentSet<RigidBodyActivation>
+ ComponentSet<RigidBodyIds>,
{
for out_island in &mut out[..islands.num_islands()] {
out_island.clear();
}
// FIXME: don't iterate through all the interactions.
for (i, edge) in self.joint_graph.graph.edges.iter().enumerate() {
let joint = &edge.weight;
let rb1 = &bodies[joint.body1];
let rb2 = &bodies[joint.body2];
if (rb1.is_dynamic() || rb2.is_dynamic())
&& (!rb1.is_dynamic() || !rb1.is_sleeping())
&& (!rb2.is_dynamic() || !rb2.is_sleeping())
let (status1, activation1, ids1): (
&RigidBodyType,
&RigidBodyActivation,
&RigidBodyIds,
) = bodies.index_bundle(joint.body1.0);
let (status2, activation2, ids2): (
&RigidBodyType,
&RigidBodyActivation,
&RigidBodyIds,
) = bodies.index_bundle(joint.body2.0);
if (status1.is_dynamic() || status2.is_dynamic())
&& (!status1.is_dynamic() || !activation1.sleeping)
&& (!status2.is_dynamic() || !activation2.sleeping)
{
let island_index = if !rb1.is_dynamic() {
rb2.active_island_id
let island_index = if !status1.is_dynamic() {
ids2.active_island_id
} else {
rb1.active_island_id
ids1.active_island_id
};
out[island_index].push(i);
@@ -239,22 +248,28 @@ impl JointSet {
///
/// If `wake_up` is set to `true`, then the bodies attached to this joint will be
/// automatically woken up.
pub fn remove(
pub fn remove<Bodies>(
&mut self,
handle: JointHandle,
bodies: &mut RigidBodySet,
islands: &mut IslandManager,
bodies: &mut Bodies,
wake_up: bool,
) -> Option<Joint> {
) -> Option<Joint>
where
Bodies: ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>,
{
let id = self.joint_ids.remove(handle.0)?;
let endpoints = self.joint_graph.graph.edge_endpoints(id)?;
if wake_up {
// Wake-up the bodies attached to this joint.
if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.0) {
bodies.wake_up(*rb_handle, true);
islands.wake_up(bodies, *rb_handle, true);
}
if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.1) {
bodies.wake_up(*rb_handle, true);
islands.wake_up(bodies, *rb_handle, true);
}
}
@@ -267,11 +282,16 @@ impl JointSet {
removed_joint
}
pub(crate) fn remove_rigid_body(
pub(crate) fn remove_rigid_body<Bodies>(
&mut self,
deleted_id: RigidBodyGraphIndex,
bodies: &mut RigidBodySet,
) {
islands: &mut IslandManager,
bodies: &mut Bodies,
) where
Bodies: ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>,
{
if InteractionGraph::<(), ()>::is_graph_index_valid(deleted_id) {
// We have to delete each joint one by one in order to:
// - Wake-up the attached bodies.
@@ -292,16 +312,16 @@ impl JointSet {
}
// Wake up the attached bodies.
bodies.wake_up(h1, true);
bodies.wake_up(h2, true);
islands.wake_up(bodies, h1, true);
islands.wake_up(bodies, h2, true);
}
if let Some(other) = self.joint_graph.remove_node(deleted_id) {
// One rigid-body joint graph index may have been invalidated
// so we need to update it.
if let Some(replacement) = bodies.get_mut_internal(other) {
replacement.joint_graph_index = deleted_id;
}
bodies.map_mut_internal(other.0, |ids: &mut RigidBodyIds| {
ids.joint_graph_index = deleted_id;
});
}
}
}