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Implement interaction groups test mode and add the ClampedSum cofficient combine rule (#741)

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This commit is contained in:
Dragos Daian
2025-10-30 11:51:22 +01:00
committed by GitHub
parent 36f91a6a07
commit 57c4e912a6
7 changed files with 108 additions and 22 deletions
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6
examples3d/collision_groups3.rs
View File

@@ -24,8 +24,10 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup groups
*/
const GREEN_GROUP: InteractionGroups = InteractionGroups::new(Group::GROUP_1, Group::GROUP_1);
const BLUE_GROUP: InteractionGroups = InteractionGroups::new(Group::GROUP_2, Group::GROUP_2);
const GREEN_GROUP: InteractionGroups =
InteractionGroups::new(Group::GROUP_1, Group::GROUP_1, InteractionTestMode::And);
const BLUE_GROUP: InteractionGroups =
InteractionGroups::new(Group::GROUP_2, Group::GROUP_2, InteractionTestMode::And);
/*
* A green floor that will collide with the GREEN group only.

12
examples3d/vehicle_joints3.rs
View File

@@ -53,7 +53,11 @@ pub fn init_world(testbed: &mut Testbed) {
let body_co = ColliderBuilder::cuboid(0.65, 0.3, 0.9)
.density(100.0)
.collision_groups(InteractionGroups::new(CAR_GROUP, !CAR_GROUP));
.collision_groups(InteractionGroups::new(
CAR_GROUP,
!CAR_GROUP,
InteractionTestMode::And,
));
let body_rb = RigidBodyBuilder::dynamic()
.pose(body_position.into())
.build();
@@ -85,7 +89,11 @@ pub fn init_world(testbed: &mut Testbed) {
// is mathematically simpler than a cylinder and cheaper to compute for collision-detection.
let wheel_co = ColliderBuilder::ball(wheel_radius)
.density(100.0)
.collision_groups(InteractionGroups::new(CAR_GROUP, !CAR_GROUP))
.collision_groups(InteractionGroups::new(
CAR_GROUP,
!CAR_GROUP,
InteractionTestMode::And,
))
.friction(1.0);
let wheel_rb = RigidBodyBuilder::dynamic().pose(wheel_center.into());
let wheel_handle = bodies.insert(wheel_rb);