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Introduce the PhysicsHook trait used for both contact filtering and contact modification.

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This commit is contained in:
Crozet Sébastien
2021-02-23 11:24:54 +01:00
parent ad5c10672e
commit 00706e8b36
8 changed files with 160 additions and 58 deletions
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16
src/pipeline/collision_pipeline.rs
View File

@@ -2,8 +2,7 @@
use crate::dynamics::{JointSet, RigidBodySet};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactPairFilter,
IntersectionPairFilter, NarrowPhase,
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase, PhysicsHooks,
};
use crate::math::Real;
use crate::pipeline::EventHandler;
@@ -44,8 +43,7 @@ impl CollisionPipeline {
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
contact_pair_filter: Option<&dyn ContactPairFilter>,
proximity_pair_filter: Option<&dyn IntersectionPairFilter>,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
bodies.maintain(colliders);
@@ -58,14 +56,8 @@ impl CollisionPipeline {
narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(
prediction_distance,
bodies,
colliders,
contact_pair_filter,
events,
);
narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events);
narrow_phase.compute_contacts(prediction_distance, bodies, colliders, hooks, events);
narrow_phase.compute_intersections(bodies, colliders, hooks, events);
bodies.update_active_set_with_contacts(
colliders,

11
src/pipeline/physics_pipeline.rs
View File

@@ -7,8 +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,
ContactPairFilter, IntersectionPairFilter, NarrowPhase,
BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase,
PhysicsHooks,
};
use crate::math::{Real, Vector};
use crate::pipeline::EventHandler;
@@ -69,8 +69,7 @@ impl PhysicsPipeline {
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
contact_pair_filter: Option<&dyn ContactPairFilter>,
proximity_pair_filter: Option<&dyn IntersectionPairFilter>,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
self.counters.step_started();
@@ -115,10 +114,10 @@ impl PhysicsPipeline {
integration_parameters.prediction_distance,
bodies,
colliders,
contact_pair_filter,
hooks,
events,
);
narrow_phase.compute_intersections(bodies, colliders, proximity_pair_filter, events);
narrow_phase.compute_intersections(bodies, colliders, hooks, events);
// println!("Compute contact time: {}", instant::now() - t);
self.counters.stages.island_construction_time.start();