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Allow disabling colliders, rigid-bodies and impulse joints

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This commit is contained in:
Sébastien Crozet
2022-11-19 16:05:46 +01:00
parent c600549aac
commit 46d976d97b
15 changed files with 408 additions and 107 deletions
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6
src/pipeline/query_pipeline.rs
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@@ -358,12 +358,12 @@ impl QueryPipeline {
fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
match self.mode {
QueryPipelineMode::CurrentPosition => {
for (h, co) in self.colliders.iter() {
for (h, co) in self.colliders.iter_enabled() {
f(h, co.shape.compute_aabb(&co.pos))
}
}
QueryPipelineMode::SweepTestWithNextPosition => {
for (h, co) in self.colliders.iter() {
for (h, co) in self.colliders.iter_enabled() {
if let Some(co_parent) = co.parent {
let rb_next_pos = &self.bodies[co_parent.handle].pos.next_position;
let next_position = rb_next_pos * co_parent.pos_wrt_parent;
@@ -374,7 +374,7 @@ impl QueryPipeline {
}
}
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
for (h, co) in self.colliders.iter() {
for (h, co) in self.colliders.iter_enabled() {
if let Some(co_parent) = co.parent {
let rb = &self.bodies[co_parent.handle];
let predicted_pos = rb.pos.integrate_forces_and_velocities(