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Add prelude + use vectors for setting linvel/translation in builders

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This commit is contained in:
Crozet Sébastien
2021-05-25 11:00:13 +02:00
parent 47139323e0
commit 1bef66fea9
93 changed files with 1528 additions and 1259 deletions
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187
src/geometry/collider.rs
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@@ -2,10 +2,11 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::geometry::{
ColliderBroadPhaseData, ColliderChanges, ColliderGroups, ColliderMassProperties,
ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
InteractionGroups, SharedShape, SolverFlags,
InteractionGroups, SharedShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
use crate::pipeline::PhysicsHooksFlags;
use na::Unit;
use parry::bounding_volume::AABB;
use parry::shape::Shape;
@@ -20,7 +21,7 @@ pub struct Collider {
pub(crate) co_shape: ColliderShape,
pub(crate) co_mprops: ColliderMassProperties,
pub(crate) co_changes: ColliderChanges,
pub(crate) co_parent: ColliderParent,
pub(crate) co_parent: Option<ColliderParent>,
pub(crate) co_pos: ColliderPosition,
pub(crate) co_material: ColliderMaterial,
pub(crate) co_groups: ColliderGroups,
@@ -31,14 +32,14 @@ pub struct Collider {
impl Collider {
pub(crate) fn reset_internal_references(&mut self) {
self.co_parent.handle = RigidBodyHandle::invalid();
self.co_parent = None;
self.co_bf_data.proxy_index = crate::INVALID_U32;
self.co_changes = ColliderChanges::all();
}
/// The rigid body this collider is attached to.
pub fn parent(&self) -> RigidBodyHandle {
self.co_parent.handle
pub fn parent(&self) -> Option<RigidBodyHandle> {
self.co_parent.map(|parent| parent.handle)
}
/// Is this collider a sensor?
@@ -46,6 +47,26 @@ impl Collider {
self.co_type.is_sensor()
}
/// The physics hooks enabled for this collider.
pub fn active_hooks(&self) -> PhysicsHooksFlags {
self.co_material.active_hooks
}
/// Sets the physics hooks enabled for this collider.
pub fn set_active_hooks(&mut self, active_hooks: PhysicsHooksFlags) {
self.co_material.active_hooks = active_hooks;
}
/// The friction coefficient of this collider.
pub fn friction(&self) -> Real {
self.co_material.friction
}
/// Sets the friction coefficient of this collider.
pub fn set_friction(&mut self, coefficient: Real) {
self.co_material.friction = coefficient
}
/// The combine rule used by this collider to combine its friction
/// coefficient with the friction coefficient of the other collider it
/// is in contact with.
@@ -60,6 +81,16 @@ impl Collider {
self.co_material.friction_combine_rule = rule;
}
/// The restitution coefficient of this collider.
pub fn restitution(&self) -> Real {
self.co_material.restitution
}
/// Sets the restitution coefficient of this collider.
pub fn set_restitution(&mut self, coefficient: Real) {
self.co_material.restitution = coefficient
}
/// The combine rule used by this collider to combine its restitution
/// coefficient with the restitution coefficient of the other collider it
/// is in contact with.
@@ -86,15 +117,22 @@ impl Collider {
}
}
#[doc(hidden)]
pub fn set_position_debug(&mut self, position: Isometry<Real>) {
self.co_pos.0 = position;
/// Sets the translational part of this collider's position.
pub fn set_translation(&mut self, translation: Vector<Real>) {
self.co_changes.insert(ColliderChanges::POSITION);
self.co_pos.0.translation.vector = translation;
}
/// The position of this collider expressed in the local-space of the rigid-body it is attached to.
#[deprecated(note = "use `.position_wrt_parent()` instead.")]
pub fn delta(&self) -> &Isometry<Real> {
&self.co_parent.pos_wrt_parent
/// Sets the rotational part of this collider's position.
pub fn set_rotation(&mut self, rotation: AngVector<Real>) {
self.co_changes.insert(ColliderChanges::POSITION);
self.co_pos.0.rotation = Rotation::new(rotation);
}
/// Sets the position of this collider.
pub fn set_position(&mut self, position: Isometry<Real>) {
self.co_changes.insert(ColliderChanges::POSITION);
self.co_pos.0 = position;
}
/// The world-space position of this collider.
@@ -102,15 +140,31 @@ impl Collider {
&self.co_pos
}
/// The translational part of this rigid-body's position.
pub fn translation(&self) -> &Vector<Real> {
&self.co_pos.0.translation.vector
}
/// The rotational part of this rigid-body's position.
pub fn rotation(&self) -> &Rotation<Real> {
&self.co_pos.0.rotation
}
/// The position of this collider wrt the body it is attached to.
pub fn position_wrt_parent(&self) -> &Isometry<Real> {
&self.co_parent.pos_wrt_parent
pub fn position_wrt_parent(&self) -> Option<&Isometry<Real>> {
self.co_parent.as_ref().map(|p| &p.pos_wrt_parent)
}
/// Sets the position of this collider wrt. its parent rigid-body.
pub fn set_position_wrt_parent(&mut self, position: Isometry<Real>) {
///
/// Panics if the collider is not attached to a rigid-body.
pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) {
self.co_changes.insert(ColliderChanges::PARENT);
self.co_parent.pos_wrt_parent = position;
let co_parent = self
.co_parent
.as_mut()
.expect("This collider has no parent.");
co_parent.pos_wrt_parent = pos_wrt_parent;
}
/// The collision groups used by this collider.
@@ -213,13 +267,12 @@ pub struct ColliderBuilder {
pub restitution: Real,
/// The rule used to combine two restitution coefficients.
pub restitution_combine_rule: CoefficientCombineRule,
/// The position of this collider relative to the local frame of the rigid-body it is attached to.
pub pos_wrt_parent: Isometry<Real>,
/// The position of this collider.
pub position: Isometry<Real>,
/// Is this collider a sensor?
pub is_sensor: bool,
/// Do we have to always call the contact modifier
/// on this collider?
pub modify_solver_contacts: bool,
/// Physics hooks enabled for this collider.
pub active_hooks: PhysicsHooksFlags,
/// The user-data of the collider being built.
pub user_data: u128,
/// The collision groups for the collider being built.
@@ -237,14 +290,14 @@ impl ColliderBuilder {
mass_properties: None,
friction: Self::default_friction(),
restitution: 0.0,
pos_wrt_parent: Isometry::identity(),
position: Isometry::identity(),
is_sensor: false,
user_data: 0,
collision_groups: InteractionGroups::all(),
solver_groups: InteractionGroups::all(),
friction_combine_rule: CoefficientCombineRule::Average,
restitution_combine_rule: CoefficientCombineRule::Average,
modify_solver_contacts: false,
active_hooks: PhysicsHooksFlags::empty(),
}
}
@@ -489,6 +542,11 @@ impl ColliderBuilder {
0.5
}
/// The default density used by the collider builder.
pub fn default_density() -> Real {
1.0
}
/// Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder.
pub fn user_data(mut self, data: u128) -> Self {
self.user_data = data;
@@ -522,10 +580,9 @@ impl ColliderBuilder {
self
}
/// If set to `true` then the physics hooks will always run to modify
/// contacts involving this collider.
pub fn modify_solver_contacts(mut self, modify_solver_contacts: bool) -> Self {
self.modify_solver_contacts = modify_solver_contacts;
/// The set of physics hooks enabled for this collider.
pub fn active_hooks(mut self, active_hooks: PhysicsHooksFlags) -> Self {
self.active_hooks = active_hooks;
self
}
@@ -571,51 +628,45 @@ impl ColliderBuilder {
self
}
/// Sets the initial translation of the collider to be created,
/// relative to the rigid-body it is attached to.
#[cfg(feature = "dim2")]
pub fn translation(mut self, x: Real, y: Real) -> Self {
self.pos_wrt_parent.translation.x = x;
self.pos_wrt_parent.translation.y = y;
/// Sets the initial translation of the collider to be created.
///
/// If the collider will be attached to a rigid-body, this sets the translation relative to the
/// rigid-body it will be attached to.
pub fn translation(mut self, translation: Vector<Real>) -> Self {
self.position.translation.vector = translation;
self
}
/// Sets the initial translation of the collider to be created,
/// relative to the rigid-body it is attached to.
#[cfg(feature = "dim3")]
pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
self.pos_wrt_parent.translation.x = x;
self.pos_wrt_parent.translation.y = y;
self.pos_wrt_parent.translation.z = z;
self
}
/// Sets the initial orientation of the collider to be created,
/// relative to the rigid-body it is attached to.
/// Sets the initial orientation of the collider to be created.
///
/// If the collider will be attached to a rigid-body, this sets the orientation relative to the
/// rigid-body it will be attached to.
pub fn rotation(mut self, angle: AngVector<Real>) -> Self {
self.pos_wrt_parent.rotation = Rotation::new(angle);
self.position.rotation = Rotation::new(angle);
self
}
/// Sets the initial position (translation and orientation) of the collider to be created,
/// relative to the rigid-body it is attached to.
pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self {
self.pos_wrt_parent = pos;
self
}
/// Sets the initial position (translation and orientation) of the collider to be created,
/// relative to the rigid-body it is attached to.
#[deprecated(note = "Use `.position_wrt_parent` instead.")]
/// Sets the initial position (translation and orientation) of the collider to be created.
///
/// If the collider will be attached to a rigid-body, this sets the position relative
/// to the rigid-body it will be attached to.
pub fn position(mut self, pos: Isometry<Real>) -> Self {
self.pos_wrt_parent = pos;
self.position = pos;
self
}
/// Sets the initial position (translation and orientation) of the collider to be created,
/// relative to the rigid-body it is attached to.
#[deprecated(note = "Use `.position` instead.")]
pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self {
self.position = pos;
self
}
/// Set the position of this collider in the local-space of the rigid-body it is attached to.
#[deprecated(note = "Use `.position_wrt_parent` instead.")]
#[deprecated(note = "Use `.position` instead.")]
pub fn delta(mut self, delta: Isometry<Real>) -> Self {
self.pos_wrt_parent = delta;
self.position = delta;
self
}
@@ -623,15 +674,11 @@ impl ColliderBuilder {
pub fn build(&self) -> Collider {
let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_groups, co_material, co_mprops) =
self.components();
let co_parent = ColliderParent {
pos_wrt_parent: co_pos.0,
handle: RigidBodyHandle::invalid(),
};
Collider {
co_shape,
co_mprops,
co_material,
co_parent,
co_parent: None,
co_changes,
co_pos,
co_bf_data,
@@ -657,17 +704,11 @@ impl ColliderBuilder {
let mass_info = if let Some(mp) = self.mass_properties {
ColliderMassProperties::MassProperties(Box::new(mp))
} else {
let default_density = if self.is_sensor { 0.0 } else { 1.0 };
let default_density = Self::default_density();
let density = self.density.unwrap_or(default_density);
ColliderMassProperties::Density(density)
};
let mut solver_flags = SolverFlags::default();
solver_flags.set(
SolverFlags::MODIFY_SOLVER_CONTACTS,
self.modify_solver_contacts,
);
let co_shape = self.shape.clone();
let co_mprops = mass_info;
let co_material = ColliderMaterial {
@@ -675,10 +716,10 @@ impl ColliderBuilder {
restitution: self.restitution,
friction_combine_rule: self.friction_combine_rule,
restitution_combine_rule: self.restitution_combine_rule,
solver_flags,
active_hooks: self.active_hooks,
};
let co_changes = ColliderChanges::all();
let co_pos = ColliderPosition(self.pos_wrt_parent);
let co_pos = ColliderPosition(self.position);
let co_bf_data = ColliderBroadPhaseData::default();
let co_groups = ColliderGroups {
collision_groups: self.collision_groups,