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First round deleting the component sets.

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This commit is contained in:
Sébastien Crozet
2022-04-19 18:57:40 +02:00
committed by Sébastien Crozet
parent ee679427cd
commit 2b1374c596
36 changed files with 722 additions and 1649 deletions
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183
src/geometry/collider.rs
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@@ -17,118 +17,118 @@ use parry::shape::Shape;
///
/// To build a new collider, use the `ColliderBuilder` structure.
pub struct Collider {
pub(crate) co_type: ColliderType,
pub(crate) co_shape: ColliderShape,
pub(crate) co_mprops: ColliderMassProps,
pub(crate) co_changes: ColliderChanges,
pub(crate) co_parent: Option<ColliderParent>,
pub(crate) co_pos: ColliderPosition,
pub(crate) co_material: ColliderMaterial,
pub(crate) co_flags: ColliderFlags,
pub(crate) co_bf_data: ColliderBroadPhaseData,
pub(crate) coll_type: ColliderType,
pub(crate) shape: ColliderShape,
pub(crate) mprops: ColliderMassProps,
pub(crate) changes: ColliderChanges,
pub(crate) parent: Option<ColliderParent>,
pub(crate) pos: ColliderPosition,
pub(crate) material: ColliderMaterial,
pub(crate) flags: ColliderFlags,
pub(crate) bf_data: ColliderBroadPhaseData,
/// User-defined data associated to this collider.
pub user_data: u128,
}
impl Collider {
pub(crate) fn reset_internal_references(&mut self) {
self.co_bf_data.proxy_index = crate::INVALID_U32;
self.co_changes = ColliderChanges::all();
self.bf_data.proxy_index = crate::INVALID_U32;
self.changes = ColliderChanges::all();
}
/// The rigid body this collider is attached to.
pub fn parent(&self) -> Option<RigidBodyHandle> {
self.co_parent.map(|parent| parent.handle)
self.parent.map(|parent| parent.handle)
}
/// Is this collider a sensor?
pub fn is_sensor(&self) -> bool {
self.co_type.is_sensor()
self.coll_type.is_sensor()
}
/// The physics hooks enabled for this collider.
pub fn active_hooks(&self) -> ActiveHooks {
self.co_flags.active_hooks
self.flags.active_hooks
}
/// Sets the physics hooks enabled for this collider.
pub fn set_active_hooks(&mut self, active_hooks: ActiveHooks) {
self.co_flags.active_hooks = active_hooks;
self.flags.active_hooks = active_hooks;
}
/// The events enabled for this collider.
pub fn active_events(&self) -> ActiveEvents {
self.co_flags.active_events
self.flags.active_events
}
/// Sets the events enabled for this collider.
pub fn set_active_events(&mut self, active_events: ActiveEvents) {
self.co_flags.active_events = active_events;
self.flags.active_events = active_events;
}
/// The collision types enabled for this collider.
pub fn active_collision_types(&self) -> ActiveCollisionTypes {
self.co_flags.active_collision_types
self.flags.active_collision_types
}
/// Sets the collision types enabled for this collider.
pub fn set_active_collision_types(&mut self, active_collision_types: ActiveCollisionTypes) {
self.co_flags.active_collision_types = active_collision_types;
self.flags.active_collision_types = active_collision_types;
}
/// The friction coefficient of this collider.
pub fn friction(&self) -> Real {
self.co_material.friction
self.material.friction
}
/// Sets the friction coefficient of this collider.
pub fn set_friction(&mut self, coefficient: Real) {
self.co_material.friction = coefficient
self.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.
pub fn friction_combine_rule(&self) -> CoefficientCombineRule {
self.co_material.friction_combine_rule
self.material.friction_combine_rule
}
/// Sets 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.
pub fn set_friction_combine_rule(&mut self, rule: CoefficientCombineRule) {
self.co_material.friction_combine_rule = rule;
self.material.friction_combine_rule = rule;
}
/// The restitution coefficient of this collider.
pub fn restitution(&self) -> Real {
self.co_material.restitution
self.material.restitution
}
/// Sets the restitution coefficient of this collider.
pub fn set_restitution(&mut self, coefficient: Real) {
self.co_material.restitution = coefficient
self.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.
pub fn restitution_combine_rule(&self) -> CoefficientCombineRule {
self.co_material.restitution_combine_rule
self.material.restitution_combine_rule
}
/// Sets 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.
pub fn set_restitution_combine_rule(&mut self, rule: CoefficientCombineRule) {
self.co_material.restitution_combine_rule = rule;
self.material.restitution_combine_rule = rule;
}
/// Sets whether or not this is a sensor collider.
pub fn set_sensor(&mut self, is_sensor: bool) {
if is_sensor != self.is_sensor() {
self.co_changes.insert(ColliderChanges::TYPE);
self.co_type = if is_sensor {
self.changes.insert(ColliderChanges::TYPE);
self.coll_type = if is_sensor {
ColliderType::Sensor
} else {
ColliderType::Solid
@@ -138,55 +138,55 @@ impl Collider {
/// 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;
self.changes.insert(ColliderChanges::POSITION);
self.pos.0.translation.vector = translation;
}
/// 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);
self.changes.insert(ColliderChanges::POSITION);
self.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;
self.changes.insert(ColliderChanges::POSITION);
self.pos.0 = position;
}
/// The world-space position of this collider.
pub fn position(&self) -> &Isometry<Real> {
&self.co_pos
&self.pos
}
/// The translational part of this collider's position.
pub fn translation(&self) -> &Vector<Real> {
&self.co_pos.0.translation.vector
&self.pos.0.translation.vector
}
/// The rotational part of this collider's position.
pub fn rotation(&self) -> &Rotation<Real> {
&self.co_pos.0.rotation
&self.pos.0.rotation
}
/// The position of this collider wrt the body it is attached to.
pub fn position_wrt_parent(&self) -> Option<&Isometry<Real>> {
self.co_parent.as_ref().map(|p| &p.pos_wrt_parent)
self.parent.as_ref().map(|p| &p.pos_wrt_parent)
}
/// Sets the translational part of this collider's translation relative to its parent rigid-body.
pub fn set_translation_wrt_parent(&mut self, translation: Vector<Real>) {
if let Some(co_parent) = self.co_parent.as_mut() {
self.co_changes.insert(ColliderChanges::PARENT);
co_parent.pos_wrt_parent.translation.vector = translation;
if let Some(parent) = self.parent.as_mut() {
self.changes.insert(ColliderChanges::PARENT);
parent.pos_wrt_parent.translation.vector = translation;
}
}
/// Sets the rotational part of this collider's rotaiton relative to its parent rigid-body.
pub fn set_rotation_wrt_parent(&mut self, rotation: AngVector<Real>) {
if let Some(co_parent) = self.co_parent.as_mut() {
self.co_changes.insert(ColliderChanges::PARENT);
co_parent.pos_wrt_parent.rotation = Rotation::new(rotation);
if let Some(parent) = self.parent.as_mut() {
self.changes.insert(ColliderChanges::PARENT);
parent.pos_wrt_parent.rotation = Rotation::new(rotation);
}
}
@@ -194,46 +194,46 @@ impl Collider {
///
/// Does nothing if the collider is not attached to a rigid-body.
pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) {
if let Some(co_parent) = self.co_parent.as_mut() {
self.co_changes.insert(ColliderChanges::PARENT);
co_parent.pos_wrt_parent = pos_wrt_parent;
if let Some(parent) = self.parent.as_mut() {
self.changes.insert(ColliderChanges::PARENT);
parent.pos_wrt_parent = pos_wrt_parent;
}
}
/// The collision groups used by this collider.
pub fn collision_groups(&self) -> InteractionGroups {
self.co_flags.collision_groups
self.flags.collision_groups
}
/// Sets the collision groups of this collider.
pub fn set_collision_groups(&mut self, groups: InteractionGroups) {
if self.co_flags.collision_groups != groups {
self.co_changes.insert(ColliderChanges::GROUPS);
self.co_flags.collision_groups = groups;
if self.flags.collision_groups != groups {
self.changes.insert(ColliderChanges::GROUPS);
self.flags.collision_groups = groups;
}
}
/// The solver groups used by this collider.
pub fn solver_groups(&self) -> InteractionGroups {
self.co_flags.solver_groups
self.flags.solver_groups
}
/// Sets the solver groups of this collider.
pub fn set_solver_groups(&mut self, groups: InteractionGroups) {
if self.co_flags.solver_groups != groups {
self.co_changes.insert(ColliderChanges::GROUPS);
self.co_flags.solver_groups = groups;
if self.flags.solver_groups != groups {
self.changes.insert(ColliderChanges::GROUPS);
self.flags.solver_groups = groups;
}
}
/// The material (friction and restitution properties) of this collider.
pub fn material(&self) -> &ColliderMaterial {
&self.co_material
&self.material
}
/// The density of this collider, if set.
pub fn density(&self) -> Option<Real> {
match &self.co_mprops {
match &self.mprops {
ColliderMassProps::Density(density) => Some(*density),
ColliderMassProps::MassProperties(_) => None,
}
@@ -241,7 +241,7 @@ impl Collider {
/// The geometric shape of this collider.
pub fn shape(&self) -> &dyn Shape {
self.co_shape.as_ref()
self.shape.as_ref()
}
/// A mutable reference to the geometric shape of this collider.
@@ -250,37 +250,36 @@ impl Collider {
/// cloned first so that `self` contains a unique copy of that
/// shape that you can modify.
pub fn shape_mut(&mut self) -> &mut dyn Shape {
self.co_changes.insert(ColliderChanges::SHAPE);
self.co_shape.make_mut()
self.changes.insert(ColliderChanges::SHAPE);
self.shape.make_mut()
}
/// Sets the shape of this collider.
pub fn set_shape(&mut self, shape: SharedShape) {
self.co_changes.insert(ColliderChanges::SHAPE);
self.co_shape = shape;
self.changes.insert(ColliderChanges::SHAPE);
self.shape = shape;
}
/// Retrieve the SharedShape. Also see the `shape()` function
pub fn shared_shape(&self) -> &SharedShape {
&self.co_shape
&self.shape
}
/// Compute the axis-aligned bounding box of this collider.
pub fn compute_aabb(&self) -> AABB {
self.co_shape.compute_aabb(&self.co_pos)
self.shape.compute_aabb(&self.pos)
}
/// Compute the axis-aligned bounding box of this collider moving from its current position
/// to the given `next_position`
pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> AABB {
self.co_shape
.compute_swept_aabb(&self.co_pos, next_position)
self.shape.compute_swept_aabb(&self.pos, next_position)
}
/// Compute the local-space mass properties of this collider.
pub fn mass_properties(&self) -> MassProperties {
match &self.co_mprops {
ColliderMassProps::Density(density) => self.co_shape.mass_properties(*density),
match &self.mprops {
ColliderMassProps::Density(density) => self.shape.mass_properties(*density),
ColliderMassProps::MassProperties(mass_properties) => **mass_properties,
}
}
@@ -726,18 +725,17 @@ impl ColliderBuilder {
/// Builds a new collider attached to the given rigid-body.
pub fn build(&self) -> Collider {
let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_material, co_flags, co_mprops) =
self.components();
let (changes, pos, bf_data, shape, coll_type, material, flags, mprops) = self.components();
Collider {
co_shape,
co_mprops,
co_material,
co_parent: None,
co_changes,
co_pos,
co_bf_data,
co_flags,
co_type,
shape,
mprops,
material,
parent: None,
changes,
pos,
bf_data,
flags,
coll_type,
user_data: self.user_data,
}
}
@@ -763,39 +761,32 @@ impl ColliderBuilder {
ColliderMassProps::Density(density)
};
let co_shape = self.shape.clone();
let co_mprops = mass_info;
let co_material = ColliderMaterial {
let shape = self.shape.clone();
let mprops = mass_info;
let material = ColliderMaterial {
friction: self.friction,
restitution: self.restitution,
friction_combine_rule: self.friction_combine_rule,
restitution_combine_rule: self.restitution_combine_rule,
};
let co_flags = ColliderFlags {
let flags = ColliderFlags {
collision_groups: self.collision_groups,
solver_groups: self.solver_groups,
active_collision_types: self.active_collision_types,
active_hooks: self.active_hooks,
active_events: self.active_events,
};
let co_changes = ColliderChanges::all();
let co_pos = ColliderPosition(self.position);
let co_bf_data = ColliderBroadPhaseData::default();
let co_type = if self.is_sensor {
let changes = ColliderChanges::all();
let pos = ColliderPosition(self.position);
let bf_data = ColliderBroadPhaseData::default();
let coll_type = if self.is_sensor {
ColliderType::Sensor
} else {
ColliderType::Solid
};
(
co_changes,
co_pos,
co_bf_data,
co_shape,
co_type,
co_material,
co_flags,
co_mprops,
changes, pos, bf_data, shape, coll_type, material, flags, mprops,
)
}
}