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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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58
src/pipeline/physics_pipeline.rs
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@@ -5,8 +5,7 @@ use crate::counters::Counters;
use crate::dynamics::IslandSolver;
use crate::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodyColliders, RigidBodyForces, RigidBodyHandle, RigidBodyMassProps, RigidBodyPosition,
RigidBodyType, RigidBodyVelocity,
RigidBodyHandle, RigidBodyPosition, RigidBodyType,
};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
@@ -72,7 +71,9 @@ impl PhysicsPipeline {
modified_colliders: &mut Vec<ColliderHandle>,
) {
for handle in modified_colliders.drain(..) {
colliders.set_internal(handle.0, ColliderChanges::empty())
if let Some(co) = colliders.get_mut_internal(handle) {
co.changes = ColliderChanges::empty();
}
}
}
@@ -187,18 +188,11 @@ impl PhysicsPipeline {
self.counters.stages.update_time.resume();
for handle in islands.active_dynamic_bodies() {
let poss: &RigidBodyPosition = bodies.index(handle.0);
let position = poss.position;
let effective_inv_mass = bodies
.map_mut_internal(handle.0, |mprops: &mut RigidBodyMassProps| {
mprops.update_world_mass_properties(&position);
mprops.effective_mass()
})
.unwrap();
bodies.map_mut_internal(handle.0, |forces: &mut RigidBodyForces| {
forces.compute_effective_force_and_torque(&gravity, &effective_inv_mass)
});
let rb = bodies.index_mut_internal(*handle);
rb.mprops.update_world_mass_properties(&rb.pos.position);
let effective_mass = rb.mprops.effective_mass();
rb.forces
.compute_effective_force_and_torque(&gravity, &effective_mass);
}
for multibody in &mut multibody_joints.multibodies {
@@ -319,13 +313,10 @@ impl PhysicsPipeline {
) {
// Set the rigid-bodies and kinematic bodies to their final position.
for handle in islands.iter_active_bodies() {
bodies.map_mut_internal(handle.0, |poss: &mut RigidBodyPosition| {
poss.position = poss.next_position
});
let (rb_poss, rb_colls): (&RigidBodyPosition, &RigidBodyColliders) =
bodies.index_bundle(handle.0);
rb_colls.update_positions(colliders, modified_colliders, &rb_poss.position);
let rb = bodies.index_mut_internal(handle);
rb.pos.position = rb.pos.next_position;
rb.colliders
.update_positions(colliders, modified_colliders, &rb.pos.position);
}
}
@@ -341,29 +332,22 @@ impl PhysicsPipeline {
// there to determine if this kinematic body should wake-up dynamic
// bodies it is touching.
for handle in islands.active_kinematic_bodies() {
let (rb_type, rb_pos, rb_vel, rb_mprops): (
&RigidBodyType,
&RigidBodyPosition,
&RigidBodyVelocity,
&RigidBodyMassProps,
) = bodies.index_bundle(handle.0);
let rb = bodies.index_mut_internal(*handle);
match rb_type {
match rb.body_type {
RigidBodyType::KinematicPositionBased => {
let rb_pos: &RigidBodyPosition = bodies.index(handle.0);
let new_vel = rb_pos.interpolate_velocity(
rb.vels = rb.pos.interpolate_velocity(
integration_parameters.inv_dt(),
&rb_mprops.local_mprops.local_com,
&rb.mprops.local_mprops.local_com,
);
bodies.set_internal(handle.0, new_vel);
}
RigidBodyType::KinematicVelocityBased => {
let new_pos = rb_vel.integrate(
let new_pos = rb.vels.integrate(
integration_parameters.dt,
&rb_pos.position,
&rb_mprops.local_mprops.local_com,
&rb.pos.position,
&rb.mprops.local_mprops.local_com,
);
bodies.set_internal(handle.0, RigidBodyPosition::from(new_pos));
rb.pos = RigidBodyPosition::from(new_pos);
}
_ => {}
}