Merge pull request #44 from dimforge/custom_callbacks_filtering

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

src/geometry/contact.rs

@@ -15,7 +15,7 @@ bitflags::bitflags! {
     pub struct SolverFlags: u32 {
         /// The constraint solver will take this contact manifold into
         /// account for force computation.
-        const COMPUTE_FORCES = 0b01;
+        const COMPUTE_IMPULSES = 0b01;
     }
 }
 

src/geometry/mod.rs

@@ -22,6 +22,7 @@ pub use self::proximity_detector::{DefaultProximityDispatcher, ProximityDispatch
 #[cfg(feature = "dim3")]
 pub use self::round_cylinder::RoundCylinder;
 pub use self::trimesh::Trimesh;
+pub use self::user_callbacks::{ContactPairFilter, PairFilterContext, ProximityPairFilter};
 pub use ncollide::query::Proximity;
 
 /// A segment shape.
@@ -104,3 +105,4 @@ mod polygonal_feature_map;
 #[cfg(feature = "dim3")]
 mod round_cylinder;
 mod shape;
+mod user_callbacks;

src/geometry/narrow_phase.rs

@@ -14,8 +14,9 @@ use crate::geometry::proximity_detector::{
 //    proximity_detector::ProximityDetectionContextSimd, WBall,
 //};
 use crate::geometry::{
-    BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactEvent, ProximityEvent,
+    BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactEvent, ContactPairFilter,
-    ProximityPair, RemovedCollider, SolverFlags,
+    PairFilterContext, ProximityEvent, ProximityPair, ProximityPairFilter, RemovedCollider,
+    SolverFlags,
 };
 use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
 //#[cfg(feature = "simd-is-enabled")]
@@ -290,6 +291,7 @@ impl NarrowPhase {
         prediction_distance: f32,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
+        pair_filter: Option<&dyn ProximityPairFilter>,
         events: &dyn EventHandler,
     ) {
         par_iter_mut!(&mut self.proximity_graph.graph.edges).for_each(|edge| {
@@ -301,16 +303,38 @@ impl NarrowPhase {
             let rb1 = &bodies[co1.parent];
             let rb2 = &bodies[co2.parent];
 
-            if (rb1.is_sleeping() || rb1.is_static()) && (rb2.is_sleeping() || rb2.is_static()) {
+            if (rb1.is_sleeping() && rb2.is_static())
-                // No need to update this contact because nothing moved.
+                || (rb2.is_sleeping() && rb1.is_static())
+                || (rb1.is_sleeping() && rb2.is_sleeping())
+            {
+                // No need to update this proximity because nothing moved.
                 return;
             }
 
             if !co1.collision_groups.test(co2.collision_groups) {
-                // The collision is not allowed.
+                // The proximity is not allowed.
                 return;
             }
 
+            if pair_filter.is_none() && !rb1.is_dynamic() && !rb2.is_dynamic() {
+                // Default filtering rule: no proximity between two non-dynamic bodies.
+                return;
+            }
+
+            if let Some(filter) = pair_filter {
+                let context = PairFilterContext {
+                    rigid_body1: rb1,
+                    rigid_body2: rb2,
+                    collider1: co1,
+                    collider2: co2,
+                };
+
+                if !filter.filter_proximity_pair(&context) {
+                    // No proximity allowed.
+                    return;
+                }
+            }
+
             let dispatcher = DefaultProximityDispatcher;
             if pair.detector.is_none() {
                 // We need a redispatch for this detector.
@@ -341,6 +365,7 @@ impl NarrowPhase {
         prediction_distance: f32,
         bodies: &RigidBodySet,
         colliders: &ColliderSet,
+        pair_filter: Option<&dyn ContactPairFilter>,
         events: &dyn EventHandler,
     ) {
         par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
@@ -352,8 +377,9 @@ impl NarrowPhase {
             let rb1 = &bodies[co1.parent];
             let rb2 = &bodies[co2.parent];
 
-            if ((rb1.is_sleeping() || rb1.is_static()) && (rb2.is_sleeping() || rb2.is_static()))
+            if (rb1.is_sleeping() && rb2.is_static())
-                || (!rb1.is_dynamic() && !rb2.is_dynamic())
+                || (rb2.is_sleeping() && rb1.is_static())
+                || (rb1.is_sleeping() && rb2.is_sleeping())
             {
                 // No need to update this contact because nothing moved.
                 return;
@@ -364,6 +390,33 @@ impl NarrowPhase {
                 return;
             }
 
+            if pair_filter.is_none() && !rb1.is_dynamic() && !rb2.is_dynamic() {
+                // Default filtering rule: no contact between two non-dynamic bodies.
+                return;
+            }
+
+            let mut solver_flags = if let Some(filter) = pair_filter {
+                let context = PairFilterContext {
+                    rigid_body1: rb1,
+                    rigid_body2: rb2,
+                    collider1: co1,
+                    collider2: co2,
+                };
+
+                if let Some(solver_flags) = filter.filter_contact_pair(&context) {
+                    solver_flags
+                } else {
+                    // No contact allowed.
+                    return;
+                }
+            } else {
+                SolverFlags::COMPUTE_IMPULSES
+            };
+
+            if !co1.solver_groups.test(co2.solver_groups) {
+                solver_flags.remove(SolverFlags::COMPUTE_IMPULSES);
+            }
+
             let dispatcher = DefaultContactDispatcher;
             if pair.generator.is_none() {
                 // We need a redispatch for this generator.
@@ -374,12 +427,6 @@ impl NarrowPhase {
                 pair.generator_workspace = workspace;
             }
 
-            let solver_flags = if co1.solver_groups.test(co2.solver_groups) {
-                SolverFlags::COMPUTE_FORCES
-            } else {
-                SolverFlags::empty()
-            };
-
             let context = ContactGenerationContext {
                 dispatcher: &dispatcher,
                 prediction_distance,
@@ -413,8 +460,11 @@ impl NarrowPhase {
             for manifold in &mut inter.weight.manifolds {
                 let rb1 = &bodies[manifold.body_pair.body1];
                 let rb2 = &bodies[manifold.body_pair.body2];
-                if manifold.solver_flags.contains(SolverFlags::COMPUTE_FORCES)
+                if manifold
+                    .solver_flags
+                    .contains(SolverFlags::COMPUTE_IMPULSES)
                     && manifold.num_active_contacts() != 0
+                    && (rb1.is_dynamic() || rb2.is_dynamic())
                     && (!rb1.is_dynamic() || !rb1.is_sleeping())
                     && (!rb2.is_dynamic() || !rb2.is_sleeping())
                 {

src/geometry/user_callbacks.rs

@@ -0,0 +1,57 @@
+use crate::dynamics::RigidBody;
+use crate::geometry::{Collider, SolverFlags};
+
+/// Context given to custom collision filters to filter-out collisions.
+pub struct PairFilterContext<'a> {
+    /// The first collider involved in the potential collision.
+    pub rigid_body1: &'a RigidBody,
+    /// The first collider involved in the potential collision.
+    pub rigid_body2: &'a RigidBody,
+    /// The first collider involved in the potential collision.
+    pub collider1: &'a Collider,
+    /// The first collider involved in the potential collision.
+    pub collider2: &'a Collider,
+}
+
+/// User-defined filter for potential contact pairs detected by the broad-phase.
+///
+/// This can be used to apply custom logic in order to decide whether two colliders
+/// should have their contact computed by the narrow-phase, and if these contact
+/// should be solved by the constraints solver
+pub trait ContactPairFilter: Send + Sync {
+    /// Applies the contact pair filter.
+    ///
+    /// Note that using a contact pair filter will replace the default contact filtering
+    /// which consists of preventing contact computation between two non-dynamic bodies.
+    ///
+    /// This filtering method is called after taking into account the colliders collision groups.
+    ///
+    /// If this returns `None`, then the narrow-phase will ignore this contact pair and
+    /// not compute any contact manifolds for it.
+    /// If this returns `Some`, then the narrow-phase will compute contact manifolds for
+    /// this pair of colliders, and configure them with the returned solver flags. For
+    /// example, if this returns `Some(SolverFlags::COMPUTE_IMPULSES)` then the contacts
+    /// will be taken into account by the constraints solver. If this returns
+    /// `Some(SolverFlags::empty())` then the constraints solver will ignore these
+    /// contacts.
+    fn filter_contact_pair(&self, context: &PairFilterContext) -> Option<SolverFlags>;
+}
+
+/// User-defined filter for potential proximity pairs detected by the broad-phase.
+///
+/// This can be used to apply custom logic in order to decide whether two colliders
+/// should have their proximity computed by the narrow-phase.
+pub trait ProximityPairFilter: Send + Sync {
+    /// Applies the proximity pair filter.
+    ///
+    /// Note that using a proximity pair filter will replace the default proximity filtering
+    /// which consists of preventing proximity computation between two non-dynamic bodies.
+    ///
+    /// This filtering method is called after taking into account the colliders collision groups.
+    ///
+    /// If this returns `false`, then the narrow-phase will ignore this pair and
+    /// not compute any proximity information for it.
+    /// If this return `true` then the narrow-phase will compute proximity
+    /// information for this pair.
+    fn filter_proximity_pair(&self, context: &PairFilterContext) -> bool;
+}

src/pipeline/collision_pipeline.rs

@@ -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_contacts(
-        narrow_phase.compute_proximities(prediction_distance, bodies, colliders, events);
+            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,

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);
@@ -285,6 +290,8 @@ mod test {
             &mut bodies,
             &mut colliders,
             &mut joints,
+            None,
+            None,
             &(),
         );
     }
@@ -327,6 +334,8 @@ mod test {
             &mut bodies,
             &mut colliders,
             &mut joints,
+            None,
+            None,
             &(),
         );
     }

src_testbed/testbed.rs

@@ -681,6 +681,8 @@ impl Testbed {
                                     &mut self.physics.bodies,
                                     &mut self.physics.colliders,
                                     &mut self.physics.joints,
+                                    None,
+                                    None,
                                     &self.event_handler,
                                 );
 
@@ -1457,6 +1459,8 @@ impl State for Testbed {
                                 &mut physics.bodies,
                                 &mut physics.colliders,
                                 &mut physics.joints,
+                                None,
+                                None,
                                 event_handler,
                             );
                         });
@@ -1471,6 +1475,8 @@ impl State for Testbed {
                         &mut self.physics.bodies,
                         &mut self.physics.colliders,
                         &mut self.physics.joints,
+                        None,
+                        None,
                         &self.event_handler,
                     );