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

src/pipeline/physics_pipeline.rs

@@ -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);