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Move all the contact manifold computations out of Rapier.

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This commit is contained in:
Crozet Sébastien
2020-12-17 10:24:36 +01:00
parent cc6d1b9730
commit e231bacec6
49 changed files with 103 additions and 2511 deletions
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53
src/geometry/mod.rs
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@@ -3,49 +3,49 @@
pub use self::broad_phase_multi_sap::BroadPhase;
pub use self::collider::{Collider, ColliderBuilder, ColliderShape};
pub use self::collider_set::{ColliderHandle, ColliderSet};
pub use self::contact::{ContactData, ContactManifoldData};
pub use self::contact::{ContactPair, SolverFlags};
pub use self::contact_generator::{ContactDispatcher, DefaultContactDispatcher};
// pub use self::contact_generator::{ContactDispatcher, DefaultContactDispatcher};
pub use self::contact_pair::{ContactData, ContactManifoldData};
pub use self::contact_pair::{ContactPair, SolverFlags};
pub use self::interaction_graph::{
ColliderGraphIndex, InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex,
};
pub use self::narrow_phase::NarrowPhase;
pub use self::polygon::Polygon;
pub use self::proximity::ProximityPair;
pub use self::proximity_detector::{DefaultProximityDispatcher, ProximityDispatcher};
pub use self::proximity_pair::ProximityPair;
pub use self::user_callbacks::{ContactPairFilter, PairFilterContext, ProximityPairFilter};
pub use buckler::query::Proximity;
pub use eagl::query::Proximity;
pub use buckler::query::{KinematicsCategory, TrackedContact};
pub use eagl::query::{KinematicsCategory, TrackedContact};
pub type Contact = buckler::query::TrackedContact<ContactData>;
pub type ContactManifold = buckler::query::ContactManifold<ContactManifoldData, ContactData>;
pub type Contact = eagl::query::TrackedContact<ContactData>;
pub type ContactManifold = eagl::query::ContactManifold<ContactManifoldData, ContactData>;
/// A segment shape.
pub type Segment = buckler::shape::Segment;
pub type Segment = eagl::shape::Segment;
/// A cuboid shape.
pub type Cuboid = buckler::shape::Cuboid;
pub type Cuboid = eagl::shape::Cuboid;
/// A triangle shape.
pub type Triangle = buckler::shape::Triangle;
pub type Triangle = eagl::shape::Triangle;
/// A ball shape.
pub type Ball = buckler::shape::Ball;
pub type Ball = eagl::shape::Ball;
/// A capsule shape.
pub type Capsule = buckler::shape::Capsule;
pub type Capsule = eagl::shape::Capsule;
/// A heightfield shape.
pub type HeightField = buckler::shape::HeightField;
pub type HeightField = eagl::shape::HeightField;
/// A cylindrical shape.
#[cfg(feature = "dim3")]
pub type Cylinder = buckler::shape::Cylinder;
pub type Cylinder = eagl::shape::Cylinder;
/// A cone shape.
#[cfg(feature = "dim3")]
pub type Cone = buckler::shape::Cone;
pub type Cone = eagl::shape::Cone;
/// An axis-aligned bounding box.
pub type AABB = buckler::bounding_volume::AABB;
pub type AABB = eagl::bounding_volume::AABB;
/// A ray that can be cast against colliders.
pub type Ray = buckler::query::Ray;
pub type Ray = eagl::query::Ray;
/// The intersection between a ray and a collider.
pub type RayIntersection = buckler::query::RayIntersection;
pub type RayIntersection = eagl::query::RayIntersection;
/// The the projection of a point on a collider.
pub type PointProjection = buckler::query::PointProjection;
pub type PointProjection = eagl::query::PointProjection;
#[derive(Copy, Clone, Hash, Debug)]
/// Events occurring when two collision objects start or stop being in contact (or penetration).
@@ -101,26 +101,25 @@ pub(crate) use self::ball::WBall;
pub(crate) use self::broad_phase_multi_sap::{BroadPhasePairEvent, ColliderPair};
pub(crate) use self::collider_set::RemovedCollider;
#[cfg(feature = "simd-is-enabled")]
pub(crate) use self::contact::WContact;
pub(crate) use self::contact_pair::WContact;
pub(crate) use self::narrow_phase::ContactManifoldIndex;
pub(crate) use buckler::partitioning::WQuadtree;
pub(crate) use eagl::partitioning::WQuadtree;
//pub(crate) use self::z_order::z_cmp_floats;
pub use self::interaction_groups::InteractionGroups;
pub use buckler::shape::*;
pub use eagl::shape::*;
mod ball;
mod broad_phase_multi_sap;
mod collider;
mod collider_set;
mod contact;
mod contact_generator;
// mod contact_generator;
mod contact_pair;
mod interaction_graph;
mod narrow_phase;
mod polygon;
mod proximity;
mod proximity_detector;
mod proximity_pair;
pub(crate) mod sat;
pub(crate) mod triangle;
//mod z_order;
mod interaction_groups;
mod user_callbacks;