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Added user-implementable traits for collision/proximity pair filtering.

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This commit is contained in:
Crozet Sébastien
2020-10-27 16:11:20 +01:00
parent a52fb8d7e4
commit cc44b65094
6 changed files with 150 additions and 18 deletions
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23
src/pipeline/collision_pipeline.rs
View File

@@ -1,7 +1,10 @@
//! Physics pipeline structures.
use crate::dynamics::{JointSet, RigidBodySet};
use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactPairFilter, NarrowPhase,
ProximityPairFilter,
};
use crate::pipeline::EventHandler;
/// The collision pipeline, responsible for performing collision detection between colliders.
@@ -40,6 +43,8 @@ impl CollisionPipeline {
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
contact_pair_filter: Option<&dyn ContactPairFilter>,
proximity_pair_filter: Option<&dyn ProximityPairFilter>,
events: &dyn EventHandler,
) {
bodies.maintain_active_set();
@@ -52,8 +57,20 @@ impl CollisionPipeline {
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(prediction_distance, bodies, colliders, events);
narrow_phase.compute_proximities(prediction_distance, bodies, colliders, events);
narrow_phase.compute_contacts(
prediction_distance,
bodies,
colliders,
contact_pair_filter,
events,
);
narrow_phase.compute_proximities(
prediction_distance,
bodies,
colliders,
proximity_pair_filter,
events,
);
bodies.update_active_set_with_contacts(
colliders,

7
src/pipeline/physics_pipeline.rs
View File

@@ -7,7 +7,8 @@ use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase,
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex,
ContactPairFilter, NarrowPhase, ProximityPairFilter,
};
use crate::math::Vector;
use crate::pipeline::EventHandler;
@@ -68,6 +69,8 @@ impl PhysicsPipeline {
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
contact_pair_filter: Option<&dyn ContactPairFilter>,
proximity_pair_filter: Option<&dyn ProximityPairFilter>,
events: &dyn EventHandler,
) {
self.counters.step_started();
@@ -112,12 +115,14 @@ impl PhysicsPipeline {
integration_parameters.prediction_distance,
bodies,
colliders,
contact_pair_filter,
events,
);
narrow_phase.compute_proximities(
integration_parameters.prediction_distance,
bodies,
colliders,
proximity_pair_filter,
events,
);
// println!("Compute contact time: {}", instant::now() - t);