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Fix collider insertion/removal tracking.

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This commit is contained in:
Crozet Sébastien
2020-11-26 11:41:43 +01:00
parent f293dc6024
commit 391bcf372a
8 changed files with 53 additions and 75 deletions
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10
examples3d/all_examples3.rs
View File

@@ -13,8 +13,10 @@ use std::cmp::Ordering;
mod collision_groups3;
mod compound3;
mod damping3;
mod debug_add_remove_collider3;
mod debug_boxes3;
mod debug_cylinder3;
mod debug_dynamic_collider_add3;
mod debug_infinite_fall3;
mod debug_rollback3;
mod debug_triangle3;
@@ -82,7 +84,15 @@ pub fn main() {
("Sensor", sensor3::init_world),
("Trimesh", trimesh3::init_world),
("Keva tower", keva3::init_world),
(
"(Debug) add/rm collider",
debug_add_remove_collider3::init_world,
),
("(Debug) boxes", debug_boxes3::init_world),
(
"(Debug) dyn. coll. add",
debug_dynamic_collider_add3::init_world,
),
("(Debug) triangle", debug_triangle3::init_world),
("(Debug) trimesh", debug_trimesh3::init_world),
("(Debug) cylinder", debug_cylinder3::init_world),

63
examples3d/debug_add_remove_collider3.rs
View File

@@ -13,17 +13,14 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground.
*/
let ground_size = 20.0;
let ground_size = 3.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
// .restitution(0.5)
.build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build();
let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
/*
@@ -32,65 +29,17 @@ pub fn init_world(testbed: &mut Testbed) {
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(0.0, 0.2, 0.0)
.linvel(10.0, 0.0, 0.0)
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
colliders.insert(collider, ball_handle, &mut bodies);
let mut linvel = Vector3::zeros();
let mut angvel = Vector3::zeros();
let mut pos = Isometry3::identity();
let mut step = 0;
let mut extra_balls = Vec::new();
let snapped_frame = 51;
testbed.add_callback(move |window, physics, _, graphics, _| {
step += 1;
// Add a bigger ball collider
let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32))
.density(100.0)
.build();
let new_ball_collider_handle =
physics
.colliders
.insert(collider, ball_handle, &mut physics.bodies);
graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
extra_balls.push(new_ball_collider_handle);
// Snap the ball velocity or restore it.
let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
if step == snapped_frame {
linvel = *ball.linvel();
angvel = *ball.angvel();
pos = *ball.position();
}
if step == 100 {
ball.set_linvel(linvel, true);
ball.set_angvel(angvel, true);
ball.set_position(pos, true);
step = snapped_frame;
for ball in &extra_balls {
physics.colliders.remove(*ball, &mut physics.bodies, true);
}
extra_balls.clear();
}
// Remove then re-add the ground collider.
// let ground = physics.bodies.get_mut(ground_handle).unwrap();
// ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
// let coll = physics
// .colliders
// .remove(ground_collider_handle, &mut physics.bodies, true)
// .unwrap();
let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
.friction(0.15)
.build();
let coll = physics
.colliders
.remove(ground_collider_handle, &mut physics.bodies, true)
.unwrap();
ground_collider_handle = physics
.colliders
.insert(coll, ground_handle, &mut physics.bodies);

2
examples3d/debug_dynamic_collider_add3.rs
View File

@@ -91,7 +91,7 @@ pub fn init_world(testbed: &mut Testbed) {
let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
.friction(0.15)
.build();
new_ground_collider_handle =
let new_ground_collider_handle =
physics
.colliders
.insert(coll, ground_handle, &mut physics.bodies);

12
examples3d/debug_rollback3.rs
View File

@@ -24,17 +24,18 @@ pub fn init_world(testbed: &mut Testbed) {
.friction(0.15)
// .restitution(0.5)
.build();
colliders.insert(collider, ground_handle, &mut bodies);
let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(0.0, 0.2, 0.0)
.linvel(10.0, 0.0, 0.0)
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(0.1).density(100.0).build();
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
colliders.insert(collider, ball_handle, &mut bodies);
let mut linvel = Vector3::zeros();
@@ -43,8 +44,10 @@ pub fn init_world(testbed: &mut Testbed) {
let mut step = 0;
let snapped_frame = 51;
testbed.add_callback(move |_, physics, _, _, _| {
testbed.add_callback(move |window, physics, _, graphics, _| {
step += 1;
// Snap the ball velocity or restore it.
let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
if step == snapped_frame {
@@ -59,9 +62,6 @@ pub fn init_world(testbed: &mut Testbed) {
ball.set_position(pos, true);
step = snapped_frame;
}
let ground = physics.bodies.get_mut(ground_handle).unwrap();
ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
});
/*

2
examples3d/platform3.rs
View File

@@ -71,7 +71,7 @@ pub fn init_world(testbed: &mut Testbed) {
return;
}
if let Some(mut platform) = physics.bodies.get_mut(platform_handle) {
if let Some(platform) = physics.bodies.get_mut(platform_handle) {
let mut next_pos = *platform.position();
let dt = 0.016;

11
src/dynamics/rigid_body.rs
View File

@@ -167,12 +167,10 @@ impl RigidBody {
/// Adds a collider to this rigid-body.
pub(crate) fn add_collider(&mut self, handle: ColliderHandle, coll: &Collider) {
if !self.changes.contains(RigidBodyChanges::MODIFIED) {
self.changes.set(
RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
true,
);
}
self.changes.set(
RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
true,
);
let mass_properties = coll
.mass_properties()
@@ -193,6 +191,7 @@ impl RigidBody {
/// Removes a collider from this rigid-body.
pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) {
if let Some(i) = self.colliders.iter().position(|e| *e == handle) {
self.changes.set(RigidBodyChanges::COLLIDERS, true);
self.colliders.swap_remove(i);
let mass_properties = coll
.mass_properties()

9
src/geometry/collider_set.rs
View File

@@ -63,8 +63,11 @@ impl ColliderSet {
coll.reset_internal_references();
coll.parent = parent_handle;
// NOTE: we use `get_mut` instead of `get_mut_internal` so that the
// modification flag is updated properly.
let parent = bodies
.get_mut_internal(parent_handle)
.get_mut(parent_handle)
.expect("Parent rigid body not found.");
coll.position = parent.position * coll.delta;
coll.predicted_position = parent.predicted_position * coll.delta;
@@ -89,7 +92,9 @@ impl ColliderSet {
/*
* Delete the collider from its parent body.
*/
if let Some(parent) = bodies.get_mut_internal(collider.parent) {
// NOTE: we use `get_mut` instead of `get_mut_internal` so that the
// modification flag is updated properly.
if let Some(parent) = bodies.get_mut(collider.parent) {
parent.remove_collider_internal(handle, &collider);
if wake_up {

19
src_testbed/engine.rs
View File

@@ -237,7 +237,7 @@ impl GraphicsManager {
for collider_handle in bodies[handle].colliders() {
let color = self.c2color.get(collider_handle).copied().unwrap_or(color);
let collider = &colliders[*collider_handle];
self.add_collider(window, *collider_handle, collider, color, &mut new_nodes);
self.do_add_collider(window, *collider_handle, collider, color, &mut new_nodes);
}
new_nodes.iter_mut().for_each(|n| n.update(colliders));
@@ -256,7 +256,22 @@ impl GraphicsManager {
nodes.append(&mut new_nodes);
}
fn add_collider(
pub fn add_collider(
&mut self,
window: &mut Window,
handle: ColliderHandle,
colliders: &ColliderSet,
) {
let collider = &colliders[handle];
let color = *self.b2color.get(&collider.parent()).unwrap();
let color = self.c2color.get(&handle).copied().unwrap_or(color);
let mut nodes =
std::mem::replace(self.b2sn.get_mut(&collider.parent()).unwrap(), Vec::new());
self.do_add_collider(window, handle, collider, color, &mut nodes);
self.b2sn.insert(collider.parent(), nodes);
}
fn do_add_collider(
&mut self,
window: &mut Window,
handle: ColliderHandle,