672 lines
27 KiB
Rust
672 lines
27 KiB
Rust
#[cfg(feature = "parallel")]
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use rayon::prelude::*;
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use crate::data::pubsub::Subscription;
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use crate::data::Coarena;
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use crate::dynamics::{BodyPair, CoefficientCombineRule, RigidBodySet};
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use crate::geometry::{
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BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ColliderSet, ContactData,
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ContactEvent, ContactManifold, ContactManifoldData, ContactPair, InteractionGraph,
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IntersectionEvent, RemovedCollider, SolverContact, SolverFlags,
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};
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use crate::math::{Real, Vector};
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use crate::pipeline::{
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ContactModificationContext, EventHandler, PairFilterContext, PhysicsHooks, PhysicsHooksFlags,
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};
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use parry::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
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use parry::utils::IsometryOpt;
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use std::collections::HashMap;
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use std::sync::Arc;
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Copy, Clone, Debug, PartialEq, Eq)]
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struct ColliderGraphIndices {
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contact_graph_index: ColliderGraphIndex,
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intersection_graph_index: ColliderGraphIndex,
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}
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impl ColliderGraphIndices {
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fn invalid() -> Self {
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Self {
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contact_graph_index: InteractionGraph::<(), ()>::invalid_graph_index(),
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intersection_graph_index: InteractionGraph::<(), ()>::invalid_graph_index(),
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}
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}
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}
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/// The narrow-phase responsible for computing precise contact information between colliders.
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone)]
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pub struct NarrowPhase {
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#[cfg_attr(
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feature = "serde-serialize",
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serde(skip, default = "crate::geometry::default_persistent_query_dispatcher")
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)]
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query_dispatcher: Arc<dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>>,
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contact_graph: InteractionGraph<ColliderHandle, ContactPair>,
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intersection_graph: InteractionGraph<ColliderHandle, bool>,
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graph_indices: Coarena<ColliderGraphIndices>,
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removed_colliders: Option<Subscription<RemovedCollider>>,
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}
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pub(crate) type ContactManifoldIndex = usize;
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impl NarrowPhase {
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/// Creates a new empty narrow-phase.
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pub fn new() -> Self {
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Self::with_query_dispatcher(DefaultQueryDispatcher)
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}
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/// Creates a new empty narrow-phase with a custom query dispatcher.
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pub fn with_query_dispatcher<D>(d: D) -> Self
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where
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D: 'static + PersistentQueryDispatcher<ContactManifoldData, ContactData>,
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{
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Self {
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query_dispatcher: Arc::new(d),
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contact_graph: InteractionGraph::new(),
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intersection_graph: InteractionGraph::new(),
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graph_indices: Coarena::new(),
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removed_colliders: None,
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}
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}
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/// The contact graph containing all contact pairs and their contact information.
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pub fn contact_graph(&self) -> &InteractionGraph<ColliderHandle, ContactPair> {
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&self.contact_graph
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}
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/// The intersection graph containing all intersection pairs and their intersection information.
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pub fn intersection_graph(&self) -> &InteractionGraph<ColliderHandle, bool> {
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&self.intersection_graph
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}
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/// All the contacts involving the given collider.
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pub fn contacts_with(
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&self,
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collider: ColliderHandle,
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) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
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let id = self.graph_indices.get(collider.0)?;
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Some(self.contact_graph.interactions_with(id.contact_graph_index))
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}
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/// All the intersections involving the given collider.
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pub fn intersections_with(
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&self,
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collider: ColliderHandle,
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) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_> {
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let id = self.graph_indices.get(collider.0)?;
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Some(
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self.intersection_graph
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.interactions_with(id.intersection_graph_index)
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.map(|e| (e.0, e.1, *e.2)),
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)
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}
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/// The contact pair involving two specific colliders.
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///
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/// If this returns `None`, there is no contact between the two colliders.
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/// If this returns `Some`, then there may be a contact between the two colliders. Check the
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/// result [`ContactPair::has_any_active_collider`] method to see if there is an actual contact.
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pub fn contact_pair(
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&self,
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collider1: ColliderHandle,
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collider2: ColliderHandle,
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) -> Option<&ContactPair> {
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let id1 = self.graph_indices.get(collider1.0)?;
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let id2 = self.graph_indices.get(collider2.0)?;
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self.contact_graph
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.interaction_pair(id1.contact_graph_index, id2.contact_graph_index)
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.map(|c| c.2)
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}
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/// The intersection pair involving two specific colliders.
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///
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/// If this returns `None` or `Some(false)`, then there is no intersection between the two colliders.
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/// If this returns `Some(true)`, then there may be an intersection between the two colliders.
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pub fn intersection_pair(
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&self,
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collider1: ColliderHandle,
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collider2: ColliderHandle,
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) -> Option<bool> {
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let id1 = self.graph_indices.get(collider1.0)?;
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let id2 = self.graph_indices.get(collider2.0)?;
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self.intersection_graph
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.interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index)
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.map(|c| *c.2)
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}
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/// All the contact pairs maintained by this narrow-phase.
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pub fn contact_pairs(&self) -> impl Iterator<Item = &ContactPair> {
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self.contact_graph.interactions()
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}
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/// All the intersection pairs maintained by this narrow-phase.
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pub fn intersection_pairs(
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&self,
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) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ {
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self.intersection_graph
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.interactions_with_endpoints()
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.map(|e| (e.0, e.1, *e.2))
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}
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// #[cfg(feature = "parallel")]
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// pub(crate) fn contact_pairs_vec_mut(&mut self) -> &mut Vec<ContactPair> {
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// &mut self.contact_graph.interactions
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// }
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/// Maintain the narrow-phase internal state by taking collider removal into account.
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pub fn maintain(&mut self, colliders: &mut ColliderSet, bodies: &mut RigidBodySet) {
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// Ensure we already subscribed.
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if self.removed_colliders.is_none() {
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self.removed_colliders = Some(colliders.removed_colliders.subscribe());
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}
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let cursor = self.removed_colliders.take().unwrap();
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// TODO: avoid these hash-maps.
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// They are necessary to handle the swap-remove done internally
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// by the contact/intersection graphs when a node is removed.
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let mut prox_id_remap = HashMap::new();
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let mut contact_id_remap = HashMap::new();
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let mut i = 0;
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while let Some(collider) = colliders.removed_colliders.read_ith(&cursor, i) {
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// NOTE: if the collider does not have any graph indices currently, there is nothing
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// to remove in the narrow-phase for this collider.
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if let Some(graph_idx) = self.graph_indices.get(collider.handle.0) {
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let intersection_graph_id = prox_id_remap
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.get(&collider.handle)
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.copied()
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.unwrap_or(graph_idx.intersection_graph_index);
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let contact_graph_id = contact_id_remap
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.get(&collider.handle)
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.copied()
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.unwrap_or(graph_idx.contact_graph_index);
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self.remove_collider(
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intersection_graph_id,
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contact_graph_id,
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colliders,
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bodies,
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&mut prox_id_remap,
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&mut contact_id_remap,
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);
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}
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i += 1;
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}
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colliders.removed_colliders.ack(&cursor);
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self.removed_colliders = Some(cursor);
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}
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pub(crate) fn remove_collider(
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&mut self,
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intersection_graph_id: ColliderGraphIndex,
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contact_graph_id: ColliderGraphIndex,
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colliders: &mut ColliderSet,
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bodies: &mut RigidBodySet,
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prox_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
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contact_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
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) {
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// Wake up every body in contact with the deleted collider.
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for (a, b, _) in self.contact_graph.interactions_with(contact_graph_id) {
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if let Some(parent) = colliders.get(a).map(|c| c.parent) {
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bodies.wake_up(parent, true)
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}
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if let Some(parent) = colliders.get(b).map(|c| c.parent) {
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bodies.wake_up(parent, true)
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}
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}
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// We have to manage the fact that one other collider will
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// have its graph index changed because of the node's swap-remove.
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if let Some(replacement) = self.intersection_graph.remove_node(intersection_graph_id) {
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if let Some(replacement) = self.graph_indices.get_mut(replacement.0) {
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replacement.intersection_graph_index = intersection_graph_id;
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} else {
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prox_id_remap.insert(replacement, intersection_graph_id);
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}
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}
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if let Some(replacement) = self.contact_graph.remove_node(contact_graph_id) {
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if let Some(replacement) = self.graph_indices.get_mut(replacement.0) {
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replacement.contact_graph_index = contact_graph_id;
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} else {
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contact_id_remap.insert(replacement, contact_graph_id);
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}
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}
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}
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pub(crate) fn register_pairs(
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&mut self,
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colliders: &mut ColliderSet,
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bodies: &mut RigidBodySet,
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broad_phase_events: &[BroadPhasePairEvent],
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events: &dyn EventHandler,
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) {
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for event in broad_phase_events {
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match event {
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BroadPhasePairEvent::AddPair(pair) => {
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if let (Some(co1), Some(co2)) =
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(colliders.get(pair.collider1), colliders.get(pair.collider2))
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{
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if co1.parent == co2.parent {
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// Same parents. Ignore collisions.
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continue;
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}
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let (gid1, gid2) = self.graph_indices.ensure_pair_exists(
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pair.collider1.0,
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pair.collider2.0,
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ColliderGraphIndices::invalid(),
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);
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if co1.is_sensor() || co2.is_sensor() {
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// NOTE: the collider won't have a graph index as long
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// as it does not interact with anything.
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if !InteractionGraph::<(), ()>::is_graph_index_valid(
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gid1.intersection_graph_index,
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) {
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gid1.intersection_graph_index =
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self.intersection_graph.graph.add_node(pair.collider1);
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}
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if !InteractionGraph::<(), ()>::is_graph_index_valid(
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gid2.intersection_graph_index,
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) {
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gid2.intersection_graph_index =
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self.intersection_graph.graph.add_node(pair.collider2);
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}
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if self
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.intersection_graph
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.graph
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.find_edge(
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gid1.intersection_graph_index,
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gid2.intersection_graph_index,
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)
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.is_none()
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{
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let _ = self.intersection_graph.add_edge(
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gid1.intersection_graph_index,
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gid2.intersection_graph_index,
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false,
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);
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}
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} else {
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// NOTE: same code as above, but for the contact graph.
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// TODO: refactor both pieces of code somehow?
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// NOTE: the collider won't have a graph index as long
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// as it does not interact with anything.
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if !InteractionGraph::<(), ()>::is_graph_index_valid(
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gid1.contact_graph_index,
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) {
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gid1.contact_graph_index =
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self.contact_graph.graph.add_node(pair.collider1);
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}
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if !InteractionGraph::<(), ()>::is_graph_index_valid(
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gid2.contact_graph_index,
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) {
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gid2.contact_graph_index =
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self.contact_graph.graph.add_node(pair.collider2);
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}
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if self
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.contact_graph
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.graph
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.find_edge(gid1.contact_graph_index, gid2.contact_graph_index)
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.is_none()
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{
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let interaction = ContactPair::new(*pair);
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let _ = self.contact_graph.add_edge(
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gid1.contact_graph_index,
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gid2.contact_graph_index,
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interaction,
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);
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}
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}
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}
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}
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BroadPhasePairEvent::DeletePair(pair) => {
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if let (Some(co1), Some(co2)) =
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(colliders.get(pair.collider1), colliders.get(pair.collider2))
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{
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// TODO: could we just unwrap here?
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// Don't we have the guarantee that we will get a `AddPair` before a `DeletePair`?
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if let (Some(gid1), Some(gid2)) = (
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self.graph_indices.get(pair.collider1.0),
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self.graph_indices.get(pair.collider2.0),
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) {
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if co1.is_sensor() || co2.is_sensor() {
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let was_intersecting = self.intersection_graph.remove_edge(
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gid1.intersection_graph_index,
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gid2.intersection_graph_index,
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);
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// Emit an intersection lost event if we had an intersection before removing the edge.
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if Some(true) == was_intersecting {
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let prox_event = IntersectionEvent::new(
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pair.collider1,
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pair.collider2,
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false,
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);
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events.handle_intersection_event(prox_event)
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}
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} else {
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let contact_pair = self.contact_graph.remove_edge(
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gid1.contact_graph_index,
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gid2.contact_graph_index,
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);
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// Emit a contact stopped event if we had a contact before removing the edge.
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// Also wake up the dynamic bodies that were in contact.
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if let Some(ctct) = contact_pair {
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if ctct.has_any_active_contact {
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bodies.wake_up(co1.parent, true);
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bodies.wake_up(co2.parent, true);
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events.handle_contact_event(ContactEvent::Stopped(
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pair.collider1,
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pair.collider2,
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))
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}
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}
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}
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}
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}
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}
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}
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}
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}
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pub(crate) fn compute_intersections(
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&mut self,
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bodies: &RigidBodySet,
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colliders: &ColliderSet,
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hooks: &dyn PhysicsHooks,
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events: &dyn EventHandler,
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) {
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let nodes = &self.intersection_graph.graph.nodes;
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let query_dispatcher = &*self.query_dispatcher;
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let active_hooks = hooks.active_hooks();
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par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| {
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let handle1 = nodes[edge.source().index()].weight;
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let handle2 = nodes[edge.target().index()].weight;
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let co1 = &colliders[handle1];
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let co2 = &colliders[handle2];
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// FIXME: avoid lookup into bodies.
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let rb1 = &bodies[co1.parent];
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let rb2 = &bodies[co2.parent];
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if (rb1.is_sleeping() && rb2.is_static())
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|| (rb2.is_sleeping() && rb1.is_static())
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|| (rb1.is_sleeping() && rb2.is_sleeping())
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{
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// No need to update this intersection because nothing moved.
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return;
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}
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if !co1.collision_groups.test(co2.collision_groups) {
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// The intersection is not allowed.
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return;
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}
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if !active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR)
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&& !rb1.is_dynamic()
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&& !rb2.is_dynamic()
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{
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// Default filtering rule: no intersection between two non-dynamic bodies.
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return;
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}
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if active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR) {
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let context = PairFilterContext {
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rigid_body1: rb1,
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rigid_body2: rb2,
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collider_handle1: handle1,
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collider_handle2: handle2,
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collider1: co1,
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collider2: co2,
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};
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if !hooks.filter_intersection_pair(&context) {
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// No intersection allowed.
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return;
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}
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}
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let pos12 = co1.position().inv_mul(co2.position());
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if let Ok(intersection) =
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query_dispatcher.intersection_test(&pos12, co1.shape(), co2.shape())
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{
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if intersection != edge.weight {
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edge.weight = intersection;
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events.handle_intersection_event(IntersectionEvent::new(
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handle1,
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handle2,
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intersection,
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));
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}
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}
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});
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}
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pub(crate) fn compute_contacts(
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&mut self,
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prediction_distance: Real,
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bodies: &RigidBodySet,
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colliders: &ColliderSet,
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hooks: &dyn PhysicsHooks,
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events: &dyn EventHandler,
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) {
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let query_dispatcher = &*self.query_dispatcher;
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let active_hooks = hooks.active_hooks();
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par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
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let pair = &mut edge.weight;
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let co1 = &colliders[pair.pair.collider1];
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let co2 = &colliders[pair.pair.collider2];
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// FIXME: avoid lookup into bodies.
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let rb1 = &bodies[co1.parent];
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let rb2 = &bodies[co2.parent];
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if (rb1.is_sleeping() && rb2.is_static())
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|| (rb2.is_sleeping() && rb1.is_static())
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|| (rb1.is_sleeping() && rb2.is_sleeping())
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{
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// No need to update this contact because nothing moved.
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return;
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}
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if !co1.collision_groups.test(co2.collision_groups) {
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// The collision is not allowed.
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return;
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}
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if !active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
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&& !rb1.is_dynamic()
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&& !rb2.is_dynamic()
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{
|
|
// Default filtering rule: no contact between two non-dynamic bodies.
|
|
return;
|
|
}
|
|
|
|
let mut solver_flags = if active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
|
|
{
|
|
let context = PairFilterContext {
|
|
rigid_body1: rb1,
|
|
rigid_body2: rb2,
|
|
collider_handle1: pair.pair.collider1,
|
|
collider_handle2: pair.pair.collider2,
|
|
collider1: co1,
|
|
collider2: co2,
|
|
};
|
|
|
|
if let Some(solver_flags) = hooks.filter_contact_pair(&context) {
|
|
solver_flags
|
|
} else {
|
|
// No contact allowed.
|
|
return;
|
|
}
|
|
} else {
|
|
co1.solver_flags | co2.solver_flags
|
|
};
|
|
|
|
if !co1.solver_groups.test(co2.solver_groups) {
|
|
solver_flags.remove(SolverFlags::COMPUTE_IMPULSES);
|
|
}
|
|
|
|
let pos12 = co1.position().inv_mul(co2.position());
|
|
let _ = query_dispatcher.contact_manifolds(
|
|
&pos12,
|
|
co1.shape(),
|
|
co2.shape(),
|
|
prediction_distance,
|
|
&mut pair.manifolds,
|
|
&mut pair.workspace,
|
|
);
|
|
|
|
let mut has_any_active_contact = false;
|
|
|
|
let friction = CoefficientCombineRule::combine(
|
|
co1.friction,
|
|
co2.friction,
|
|
co1.flags.friction_combine_rule_value(),
|
|
co2.flags.friction_combine_rule_value(),
|
|
);
|
|
let restitution = CoefficientCombineRule::combine(
|
|
co1.restitution,
|
|
co2.restitution,
|
|
co1.flags.restitution_combine_rule_value(),
|
|
co2.flags.restitution_combine_rule_value(),
|
|
);
|
|
|
|
for manifold in &mut pair.manifolds {
|
|
let world_pos1 = manifold.subshape_pos1.prepend_to(co1.position());
|
|
manifold.data.solver_contacts.clear();
|
|
manifold.data.body_pair = BodyPair::new(co1.parent(), co2.parent());
|
|
manifold.data.solver_flags = solver_flags;
|
|
manifold.data.normal = world_pos1 * manifold.local_n1;
|
|
|
|
// Generate solver contacts.
|
|
for (contact_id, contact) in manifold.points.iter().enumerate() {
|
|
assert!(
|
|
contact_id <= u8::MAX as usize,
|
|
"A contact manifold cannot contain more than 255 contacts currently."
|
|
);
|
|
|
|
if contact.dist < prediction_distance {
|
|
// Generate the solver contact.
|
|
let solver_contact = SolverContact {
|
|
contact_id: contact_id as u8,
|
|
point: world_pos1 * contact.local_p1
|
|
+ manifold.data.normal * contact.dist / 2.0,
|
|
dist: contact.dist,
|
|
friction,
|
|
restitution,
|
|
tangent_velocity: Vector::zeros(),
|
|
data: contact.data,
|
|
};
|
|
|
|
manifold.data.solver_contacts.push(solver_contact);
|
|
has_any_active_contact = true;
|
|
}
|
|
}
|
|
|
|
// Apply the user-defined contact modification.
|
|
if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
|
|
&& manifold
|
|
.data
|
|
.solver_flags
|
|
.contains(SolverFlags::MODIFY_SOLVER_CONTACTS)
|
|
{
|
|
let mut modifiable_solver_contacts =
|
|
std::mem::replace(&mut manifold.data.solver_contacts, Vec::new());
|
|
let mut modifiable_user_data = manifold.data.user_data;
|
|
|
|
let mut context = ContactModificationContext {
|
|
rigid_body1: rb1,
|
|
rigid_body2: rb2,
|
|
collider_handle1: pair.pair.collider1,
|
|
collider_handle2: pair.pair.collider2,
|
|
collider1: co1,
|
|
collider2: co2,
|
|
manifold,
|
|
solver_contacts: &mut modifiable_solver_contacts,
|
|
user_data: &mut modifiable_user_data,
|
|
};
|
|
|
|
hooks.modify_solver_contacts(&mut context);
|
|
|
|
manifold.data.solver_contacts = modifiable_solver_contacts;
|
|
manifold.data.user_data = modifiable_user_data;
|
|
}
|
|
}
|
|
|
|
if has_any_active_contact != pair.has_any_active_contact {
|
|
if has_any_active_contact {
|
|
events.handle_contact_event(ContactEvent::Started(
|
|
pair.pair.collider1,
|
|
pair.pair.collider2,
|
|
));
|
|
} else {
|
|
events.handle_contact_event(ContactEvent::Stopped(
|
|
pair.pair.collider1,
|
|
pair.pair.collider2,
|
|
));
|
|
}
|
|
|
|
pair.has_any_active_contact = has_any_active_contact;
|
|
}
|
|
});
|
|
}
|
|
|
|
/// Retrieve all the interactions with at least one contact point, happening between two active bodies.
|
|
// NOTE: this is very similar to the code from JointSet::select_active_interactions.
|
|
pub(crate) fn sort_and_select_active_contacts<'a>(
|
|
&'a mut self,
|
|
bodies: &RigidBodySet,
|
|
out_manifolds: &mut Vec<&'a mut ContactManifold>,
|
|
out: &mut Vec<Vec<ContactManifoldIndex>>,
|
|
) {
|
|
for out_island in &mut out[..bodies.num_islands()] {
|
|
out_island.clear();
|
|
}
|
|
|
|
// FIXME: don't iterate through all the interactions.
|
|
for inter in self.contact_graph.graph.edges.iter_mut() {
|
|
for manifold in &mut inter.weight.manifolds {
|
|
let rb1 = &bodies[manifold.data.body_pair.body1];
|
|
let rb2 = &bodies[manifold.data.body_pair.body2];
|
|
if manifold
|
|
.data
|
|
.solver_flags
|
|
.contains(SolverFlags::COMPUTE_IMPULSES)
|
|
&& manifold.data.num_active_contacts() != 0
|
|
&& (rb1.is_dynamic() || rb2.is_dynamic())
|
|
&& (!rb1.is_dynamic() || !rb1.is_sleeping())
|
|
&& (!rb2.is_dynamic() || !rb2.is_sleeping())
|
|
{
|
|
let island_index = if !rb1.is_dynamic() {
|
|
rb2.active_island_id
|
|
} else {
|
|
rb1.active_island_id
|
|
};
|
|
|
|
out[island_index].push(out_manifolds.len());
|
|
out_manifolds.push(manifold);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|