ContactPairFilter: don't overwrite the effect of the solver groups.

This is more consistent with the fact that the effect of collision groups is not overwritten either.

src/geometry/narrow_phase.rs

@@ -320,10 +320,10 @@ impl NarrowPhase {
 
             if let Some(filter) = pair_filter {
                 let context = PairFilterContext {
-                    collider1: co1,
-                    collider2: co2,
                     rigid_body1: rb1,
                     rigid_body2: rb2,
+                    collider1: co1,
+                    collider2: co2,
                 };
 
                 if !filter.filter_proximity_pair(&context) {
@@ -389,12 +389,12 @@ impl NarrowPhase {
                 return;
             }
 
-            let solver_flags = if let Some(filter) = pair_filter {
+            let mut solver_flags = if let Some(filter) = pair_filter {
                 let context = PairFilterContext {
-                    collider1: co1,
-                    collider2: co2,
                     rigid_body1: rb1,
                     rigid_body2: rb2,
+                    collider1: co1,
+                    collider2: co2,
                 };
 
                 if let Some(solver_flags) = filter.filter_contact_pair(&context) {
@@ -404,13 +404,13 @@ impl NarrowPhase {
                     return;
                 }
             } else {
-                if co1.solver_groups.test(co2.solver_groups) {
-                    SolverFlags::COMPUTE_IMPULSES
-                } else {
-                    SolverFlags::empty()
-                }
+                SolverFlags::COMPUTE_IMPULSES
             };
 
+            if !co1.solver_groups.test(co2.solver_groups) {
+                solver_flags.remove(SolverFlags::COMPUTE_IMPULSES);
+            }
+
             let dispatcher = DefaultContactDispatcher;
             if pair.generator.is_none() {
                 // We need a redispatch for this generator.

src/geometry/user_callbacks.rs

@@ -3,14 +3,14 @@ use crate::geometry::{Collider, SolverFlags};
 
 /// Context given to custom collision filters to filter-out collisions.
 pub struct PairFilterContext<'a> {
-    /// The first collider involved in the potential collision.
-    pub collider1: &'a Collider,
-    /// The first collider involved in the potential collision.
-    pub collider2: &'a Collider,
     /// The first collider involved in the potential collision.
     pub rigid_body1: &'a RigidBody,
     /// The first collider involved in the potential collision.
     pub rigid_body2: &'a RigidBody,
+    /// The first collider involved in the potential collision.
+    pub collider1: &'a Collider,
+    /// The first collider involved in the potential collision.
+    pub collider2: &'a Collider,
 }
 
 /// User-defined filter for potential contact pairs detected by the broad-phase.
@@ -24,9 +24,6 @@ pub trait ContactPairFilter: Send + Sync {
     /// Note that using a contact pair filter will replace the default contact filtering
     /// which consists of preventing contact computation between two non-dynamic bodies.
     ///
-    /// Note that using a contact pair filter will replace the default determination
-    /// of solver flags, based on the colliders solver groups.
-    ///
     /// This filtering method is called after taking into account the colliders collision groups.
     ///
     /// If this returns `None`, then the narrow-phase will ignore this contact pair and

src/pipeline/physics_pipeline.rs

@@ -290,6 +290,8 @@ mod test {
             &mut bodies,
             &mut colliders,
             &mut joints,
+            None,
+            None,
             &(),
         );
     }
@@ -332,6 +334,8 @@ mod test {
             &mut bodies,
             &mut colliders,
             &mut joints,
+            None,
+            None,
             &(),
         );
     }