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Finalize refactoring

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This commit is contained in:
Sébastien Crozet
2022-04-20 12:29:57 +02:00
committed by Sébastien Crozet
parent 2b1374c596
commit f108520b5a
32 changed files with 707 additions and 1030 deletions
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100
src/dynamics/island_manager.rs
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@@ -47,12 +47,15 @@ impl IslandManager {
while i < active_set.len() {
let handle = active_set[i];
if bodies.get(handle.0).is_none() {
if bodies.get(handle).is_none() {
// This rigid-body no longer exists, so we need to remove it from the active set.
active_set.swap_remove(i);
if i < active_set.len() {
bodies.map_mut_internal(active_set[i].0, |rb_ids| rb_ids.active_set_id = i);
// Update the active_set_id for the body that has been swapped.
if let Some(swapped_rb) = bodies.get_mut_internal(active_set[i]) {
swapped_rb.ids.active_set_id = i;
}
}
} else {
i += 1;
@@ -92,15 +95,13 @@ impl IslandManager {
// deleting a joint attached to an already-removed body) where we could be
// attempting to wake-up a rigid-body that has already been deleted.
if bodies.get(handle).map(|rb| rb.body_type()) == Some(RigidBodyType::Dynamic) {
bodies.map_mut_internal(handle.0, |activation: &mut RigidBodyActivation| {
activation.wake_up(strong)
});
bodies.map_mut_internal(handle.0, |ids: &mut RigidBodyIds| {
if self.active_dynamic_set.get(ids.active_set_id) != Some(&handle) {
ids.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
}
});
let rb = bodies.index_mut_internal(handle);
rb.activation.wake_up(strong);
if self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle) {
rb.ids.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
}
}
}
@@ -162,25 +163,22 @@ impl IslandManager {
let can_sleep = &mut self.can_sleep;
let stack = &mut self.stack;
let vels: &RigidBodyVelocity = bodies.index(h.0);
let sq_linvel = vels.linvel.norm_squared();
let sq_angvel = vels.angvel.gdot(vels.angvel);
let rb = bodies.index_mut_internal(h);
let sq_linvel = rb.vels.linvel.norm_squared();
let sq_angvel = rb.vels.angvel.gdot(rb.vels.angvel);
bodies.map_mut_internal(h.0, |activation: &mut RigidBodyActivation| {
update_energy(activation, sq_linvel, sq_angvel, dt);
update_energy(&mut rb.activation, sq_linvel, sq_angvel, dt);
if activation.time_since_can_sleep
>= RigidBodyActivation::default_time_until_sleep()
{
// Mark them as sleeping for now. This will
// be set to false during the graph traversal
// if it should not be put to sleep.
activation.sleeping = true;
can_sleep.push(h);
} else {
stack.push(h);
}
});
if rb.activation.time_since_can_sleep >= RigidBodyActivation::default_time_until_sleep()
{
// Mark them as sleeping for now. This will
// be set to false during the graph traversal
// if it should not be put to sleep.
rb.activation.sleeping = true;
can_sleep.push(h);
} else {
stack.push(h);
}
}
// Read all the contacts and push objects touching touching this rigid-body.
@@ -199,7 +197,7 @@ impl IslandManager {
(inter.collider1, inter.collider2),
*collider_handle,
);
if let Some(other_body) = colliders.get(other.0) {
if let Some(other_body) = colliders[other].parent {
stack.push(other_body.handle);
}
break;
@@ -212,15 +210,15 @@ impl IslandManager {
// Now iterate on all active kinematic bodies and push all the bodies
// touching them to the stack so they can be woken up.
for h in self.active_kinematic_set.iter() {
let (vels, rb_colliders): (&RigidBodyVelocity, _) = bodies.index_bundle(h.0);
let rb = &bodies[*h];
if vels.is_zero() {
if rb.vels.is_zero() {
// If the kinematic body does not move, it does not have
// to wake up any dynamic body.
continue;
}
push_contacting_bodies(rb_colliders, colliders, narrow_phase, &mut self.stack);
push_contacting_bodies(&rb.colliders, colliders, narrow_phase, &mut self.stack);
}
// println!("Selection: {}", instant::now() - t);
@@ -235,13 +233,9 @@ impl IslandManager {
let mut island_marker = self.stack.len().max(1) - 1;
while let Some(handle) = self.stack.pop() {
let (rb_status, rb_ids, rb_colliders): (
&RigidBodyType,
&RigidBodyIds,
&RigidBodyColliders,
) = bodies.index_bundle(handle.0);
let rb = bodies.index_mut_internal(handle);
if rb_ids.active_set_timestamp == self.active_set_timestamp || !rb_status.is_dynamic() {
if rb.ids.active_set_timestamp == self.active_set_timestamp || !rb.is_dynamic() {
// We already visited this body and its neighbors.
// Also, we don't propagate awake state through fixed bodies.
continue;
@@ -260,7 +254,7 @@ impl IslandManager {
// Transmit the active state to all the rigid-bodies with colliders
// in contact or joined with this collider.
push_contacting_bodies(rb_colliders, colliders, narrow_phase, &mut self.stack);
push_contacting_bodies(&rb.colliders, colliders, narrow_phase, &mut self.stack);
for inter in impulse_joints.joints_with(handle) {
let other = crate::utils::select_other((inter.0, inter.1), handle);
@@ -271,16 +265,12 @@ impl IslandManager {
self.stack.push(other);
}
bodies.map_mut_internal(handle.0, |activation: &mut RigidBodyActivation| {
activation.wake_up(false);
});
bodies.map_mut_internal(handle.0, |ids: &mut RigidBodyIds| {
ids.active_island_id = self.active_islands.len() - 1;
ids.active_set_id = self.active_dynamic_set.len();
ids.active_set_offset =
ids.active_set_id - self.active_islands[ids.active_island_id];
ids.active_set_timestamp = self.active_set_timestamp;
});
rb.activation.wake_up(false);
rb.ids.active_island_id = self.active_islands.len() - 1;
rb.ids.active_set_id = self.active_dynamic_set.len();
rb.ids.active_set_offset =
rb.ids.active_set_id - self.active_islands[rb.ids.active_island_id];
rb.ids.active_set_timestamp = self.active_set_timestamp;
self.active_dynamic_set.push(handle);
}
@@ -293,13 +283,11 @@ impl IslandManager {
// );
// Actually put to sleep bodies which have not been detected as awake.
for h in &self.can_sleep {
let activation: &RigidBodyActivation = bodies.index(h.0);
if activation.sleeping {
bodies.set_internal(h.0, RigidBodyVelocity::zero());
bodies.map_mut_internal(h.0, |activation: &mut RigidBodyActivation| {
activation.sleep()
});
for handle in &self.can_sleep {
let rb = bodies.index_mut_internal(*handle);
if rb.activation.sleeping {
rb.vels = RigidBodyVelocity::zero();
rb.activation.sleep();
}
}
}