First public release of Rapier.

src/geometry/collider_set.rs

@@ -0,0 +1,139 @@
+use crate::data::arena::Arena;
+use crate::dynamics::{RigidBodyHandle, RigidBodySet};
+use crate::geometry::Collider;
+use std::ops::{Index, IndexMut};
+
+/// The unique identifier of a collider added to a collider set.
+pub type ColliderHandle = crate::data::arena::Index;
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+/// A set of colliders that can be handled by a physics `World`.
+pub struct ColliderSet {
+    pub(crate) colliders: Arena<Collider>,
+}
+
+impl ColliderSet {
+    /// Create a new empty set of colliders.
+    pub fn new() -> Self {
+        ColliderSet {
+            colliders: Arena::new(),
+        }
+    }
+
+    /// An always-invalid collider handle.
+    pub fn invalid_handle() -> ColliderHandle {
+        ColliderHandle::from_raw_parts(crate::INVALID_USIZE, crate::INVALID_U64)
+    }
+
+    /// Iterate through all the colliders on this set.
+    pub fn iter(&self) -> impl Iterator<Item = (ColliderHandle, &Collider)> {
+        self.colliders.iter()
+    }
+
+    /// The number of colliders on this set.
+    pub fn len(&self) -> usize {
+        self.colliders.len()
+    }
+
+    /// Is this collider handle valid?
+    pub fn contains(&self, handle: ColliderHandle) -> bool {
+        self.colliders.contains(handle)
+    }
+
+    /// Inserts a new collider to this set and retrieve its handle.
+    pub fn insert(
+        &mut self,
+        mut coll: Collider,
+        parent_handle: RigidBodyHandle,
+        bodies: &mut RigidBodySet,
+    ) -> ColliderHandle {
+        let mass_properties = coll.mass_properties();
+        coll.parent = parent_handle;
+        let parent = bodies
+            .get_mut_internal(parent_handle)
+            .expect("Parent rigid body not found.");
+        coll.position = parent.position * coll.delta;
+        coll.predicted_position = parent.predicted_position * coll.delta;
+        let handle = self.colliders.insert(coll);
+        parent.colliders.push(handle);
+        parent.mass_properties += mass_properties;
+        parent.update_world_mass_properties();
+        bodies.activate(parent_handle);
+        handle
+    }
+
+    pub(crate) fn remove_internal(&mut self, handle: ColliderHandle) -> Option<Collider> {
+        self.colliders.remove(handle)
+    }
+
+    /// Gets the collider with the given handle without a known generation.
+    ///
+    /// This is useful when you know you want the collider at position `i` but
+    /// don't know what is its current generation number. Generation numbers are
+    /// used to protect from the ABA problem because the collider position `i`
+    /// are recycled between two insertion and a removal.
+    ///
+    /// Using this is discouraged in favor of `self.get(handle)` which does not
+    /// suffer form the ABA problem.
+    pub fn get_unknown_gen(&self, i: usize) -> Option<(&Collider, ColliderHandle)> {
+        self.colliders.get_unknown_gen(i)
+    }
+
+    /// Gets a mutable reference to the collider with the given handle without a known generation.
+    ///
+    /// This is useful when you know you want the collider at position `i` but
+    /// don't know what is its current generation number. Generation numbers are
+    /// used to protect from the ABA problem because the collider position `i`
+    /// are recycled between two insertion and a removal.
+    ///
+    /// Using this is discouraged in favor of `self.get_mut(handle)` which does not
+    /// suffer form the ABA problem.
+    pub fn get_unknown_gen_mut(&mut self, i: usize) -> Option<(&mut Collider, ColliderHandle)> {
+        self.colliders.get_unknown_gen_mut(i)
+    }
+
+    /// Get the collider with the given handle.
+    pub fn get(&self, handle: ColliderHandle) -> Option<&Collider> {
+        self.colliders.get(handle)
+    }
+
+    /// Gets a mutable reference to the collider with the given handle.
+    pub fn get_mut(&mut self, handle: ColliderHandle) -> Option<&mut Collider> {
+        self.colliders.get_mut(handle)
+    }
+
+    pub(crate) fn get2_mut_internal(
+        &mut self,
+        h1: ColliderHandle,
+        h2: ColliderHandle,
+    ) -> (Option<&mut Collider>, Option<&mut Collider>) {
+        self.colliders.get2_mut(h1, h2)
+    }
+
+    // pub fn iter_mut(&mut self) -> impl Iterator<Item = (ColliderHandle, ColliderMut)> {
+    //     //        let sender = &self.activation_channel_sender;
+    //     self.colliders.iter_mut().map(move |(h, rb)| {
+    //         (h, ColliderMut::new(h, rb /*sender.clone()*/))
+    //     })
+    // }
+
+    //    pub(crate) fn iter_mut_internal(
+    //        &mut self,
+    //    ) -> impl Iterator<Item = (ColliderHandle, &mut Collider)> {
+    //        self.colliders.iter_mut()
+    //    }
+}
+
+impl Index<ColliderHandle> for ColliderSet {
+    type Output = Collider;
+
+    fn index(&self, index: ColliderHandle) -> &Collider {
+        &self.colliders[index]
+    }
+}
+
+impl IndexMut<ColliderHandle> for ColliderSet {
+    fn index_mut(&mut self, index: ColliderHandle) -> &mut Collider {
+        &mut self.colliders[index]
+    }
+}