Split rigid-bodies and colliders into multiple components

src/pipeline/collision_pipeline.rs

@@ -1,7 +1,11 @@
 //! Physics pipeline structures.
 
-use crate::dynamics::{JointSet, RigidBodySet};
-use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase};
+use crate::data::{ComponentSet, ComponentSetMut};
+use crate::dynamics::{
+    IslandManager, JointSet, RigidBodyActivation, RigidBodyColliders, RigidBodyDominance,
+    RigidBodyIds, RigidBodyType, RigidBodyVelocity,
+};
+use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderShape, NarrowPhase};
 use crate::math::Real;
 use crate::pipeline::{EventHandler, PhysicsHooks};
 
@@ -34,46 +38,25 @@ impl CollisionPipeline {
     }
 
     /// Executes one step of the collision detection.
-    pub fn step(
+    pub fn step<Bodies, Colliders>(
         &mut self,
-        prediction_distance: Real,
-        broad_phase: &mut BroadPhase,
-        narrow_phase: &mut NarrowPhase,
-        bodies: &mut RigidBodySet,
-        colliders: &mut ColliderSet,
-        hooks: &dyn PhysicsHooks,
-        events: &dyn EventHandler,
-    ) {
-        colliders.handle_user_changes(bodies);
-        bodies.handle_user_changes(colliders);
-        self.broadphase_collider_pairs.clear();
-
-        self.broad_phase_events.clear();
-        broad_phase.update(prediction_distance, colliders, &mut self.broad_phase_events);
-
-        narrow_phase.handle_user_changes(colliders, bodies, events);
-        narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
-        narrow_phase.compute_contacts(prediction_distance, bodies, colliders, hooks, events);
-        narrow_phase.compute_intersections(bodies, colliders, hooks, events);
-
-        bodies.update_active_set_with_contacts(
-            colliders,
-            narrow_phase,
-            self.empty_joints.joint_graph(),
-            128,
-        );
-
-        // Update colliders positions and kinematic bodies positions.
-        bodies.foreach_active_body_mut_internal(|_, rb| {
-            rb.position = rb.next_position;
-            rb.update_colliders_positions(colliders);
-
-            for handle in &rb.colliders {
-                let collider = colliders.get_mut_internal(*handle).unwrap();
-                collider.position = rb.position * collider.delta;
-            }
-        });
-
-        bodies.modified_inactive_set.clear();
+        _prediction_distance: Real,
+        _broad_phase: &mut BroadPhase,
+        _narrow_phase: &mut NarrowPhase,
+        _islands: &mut IslandManager,
+        _bodies: &mut Bodies,
+        _colliders: &mut Colliders,
+        _hooks: &dyn PhysicsHooks<Bodies, Colliders>,
+        _events: &dyn EventHandler,
+    ) where
+        Bodies: ComponentSetMut<RigidBodyIds>
+            + ComponentSetMut<RigidBodyActivation>
+            + ComponentSet<RigidBodyColliders>
+            + ComponentSetMut<RigidBodyVelocity>
+            + ComponentSet<RigidBodyDominance>
+            + ComponentSet<RigidBodyType>,
+        Colliders: ComponentSetMut<ColliderShape>,
+    {
+        unimplemented!()
     }
 }