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Rework the event system

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This commit is contained in:
Crozet Sébastien
2021-06-01 12:36:01 +02:00
parent 1bef66fea9
commit 826ce5f014
28 changed files with 382 additions and 200 deletions
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73
src/geometry/collider.rs
View File

@@ -1,12 +1,12 @@
use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::geometry::{
ColliderBroadPhaseData, ColliderChanges, ColliderGroups, ColliderMassProperties,
ColliderBroadPhaseData, ColliderChanges, ColliderFlags, ColliderGroups, ColliderMassProps,
ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
InteractionGroups, SharedShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
use crate::pipeline::PhysicsHooksFlags;
use crate::pipeline::{ActiveEvents, ActiveHooks};
use na::Unit;
use parry::bounding_volume::AABB;
use parry::shape::Shape;
@@ -19,11 +19,12 @@ use parry::shape::Shape;
pub struct Collider {
pub(crate) co_type: ColliderType,
pub(crate) co_shape: ColliderShape,
pub(crate) co_mprops: ColliderMassProperties,
pub(crate) co_mprops: ColliderMassProps,
pub(crate) co_changes: ColliderChanges,
pub(crate) co_parent: Option<ColliderParent>,
pub(crate) co_pos: ColliderPosition,
pub(crate) co_material: ColliderMaterial,
pub(crate) co_flags: ColliderFlags,
pub(crate) co_groups: ColliderGroups,
pub(crate) co_bf_data: ColliderBroadPhaseData,
/// User-defined data associated to this rigid-body.
@@ -48,13 +49,23 @@ impl Collider {
}
/// The physics hooks enabled for this collider.
pub fn active_hooks(&self) -> PhysicsHooksFlags {
self.co_material.active_hooks
pub fn active_hooks(&self) -> ActiveHooks {
self.co_flags.active_hooks
}
/// Sets the physics hooks enabled for this collider.
pub fn set_active_hooks(&mut self, active_hooks: PhysicsHooksFlags) {
self.co_material.active_hooks = active_hooks;
pub fn set_active_hooks(&mut self, active_hooks: ActiveHooks) {
self.co_flags.active_hooks = active_hooks;
}
/// The physics hooks enabled for this collider.
pub fn active_events(&self) -> ActiveEvents {
self.co_flags.active_events
}
/// Sets the physics hooks enabled for this collider.
pub fn set_active_events(&mut self, active_events: ActiveEvents) {
self.co_flags.active_events = active_events;
}
/// The friction coefficient of this collider.
@@ -201,8 +212,8 @@ impl Collider {
/// The density of this collider, if set.
pub fn density(&self) -> Option<Real> {
match &self.co_mprops {
ColliderMassProperties::Density(density) => Some(*density),
ColliderMassProperties::MassProperties(_) => None,
ColliderMassProps::Density(density) => Some(*density),
ColliderMassProps::MassProperties(_) => None,
}
}
@@ -242,8 +253,8 @@ impl Collider {
/// Compute the local-space mass properties of this collider.
pub fn mass_properties(&self) -> MassProperties {
match &self.co_mprops {
ColliderMassProperties::Density(density) => self.co_shape.mass_properties(*density),
ColliderMassProperties::MassProperties(mass_properties) => **mass_properties,
ColliderMassProps::Density(density) => self.co_shape.mass_properties(*density),
ColliderMassProps::MassProperties(mass_properties) => **mass_properties,
}
}
}
@@ -272,7 +283,9 @@ pub struct ColliderBuilder {
/// Is this collider a sensor?
pub is_sensor: bool,
/// Physics hooks enabled for this collider.
pub active_hooks: PhysicsHooksFlags,
pub active_hooks: ActiveHooks,
/// Events enabled for this collider.
pub active_events: ActiveEvents,
/// The user-data of the collider being built.
pub user_data: u128,
/// The collision groups for the collider being built.
@@ -297,7 +310,8 @@ impl ColliderBuilder {
solver_groups: InteractionGroups::all(),
friction_combine_rule: CoefficientCombineRule::Average,
restitution_combine_rule: CoefficientCombineRule::Average,
active_hooks: PhysicsHooksFlags::empty(),
active_hooks: ActiveHooks::empty(),
active_events: ActiveEvents::empty(),
}
}
@@ -581,11 +595,17 @@ impl ColliderBuilder {
}
/// The set of physics hooks enabled for this collider.
pub fn active_hooks(mut self, active_hooks: PhysicsHooksFlags) -> Self {
pub fn active_hooks(mut self, active_hooks: ActiveHooks) -> Self {
self.active_hooks = active_hooks;
self
}
/// The set of events enabled for this collider.
pub fn active_events(mut self, active_events: ActiveEvents) -> Self {
self.active_events = active_events;
self
}
/// Sets the friction coefficient of the collider this builder will build.
pub fn friction(mut self, friction: Real) -> Self {
self.friction = friction;
@@ -672,12 +692,22 @@ impl ColliderBuilder {
/// Builds a new collider attached to the given rigid-body.
pub fn build(&self) -> Collider {
let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_groups, co_material, co_mprops) =
self.components();
let (
co_changes,
co_pos,
co_bf_data,
co_shape,
co_type,
co_groups,
co_material,
co_flags,
co_mprops,
) = self.components();
Collider {
co_shape,
co_mprops,
co_material,
co_flags,
co_parent: None,
co_changes,
co_pos,
@@ -699,14 +729,15 @@ impl ColliderBuilder {
ColliderType,
ColliderGroups,
ColliderMaterial,
ColliderMassProperties,
ColliderFlags,
ColliderMassProps,
) {
let mass_info = if let Some(mp) = self.mass_properties {
ColliderMassProperties::MassProperties(Box::new(mp))
ColliderMassProps::MassProperties(Box::new(mp))
} else {
let default_density = Self::default_density();
let density = self.density.unwrap_or(default_density);
ColliderMassProperties::Density(density)
ColliderMassProps::Density(density)
};
let co_shape = self.shape.clone();
@@ -716,7 +747,10 @@ impl ColliderBuilder {
restitution: self.restitution,
friction_combine_rule: self.friction_combine_rule,
restitution_combine_rule: self.restitution_combine_rule,
};
let co_flags = ColliderFlags {
active_hooks: self.active_hooks,
active_events: self.active_events,
};
let co_changes = ColliderChanges::all();
let co_pos = ColliderPosition(self.position);
@@ -739,6 +773,7 @@ impl ColliderBuilder {
co_type,
co_groups,
co_material,
co_flags,
co_mprops,
)
}

56
src/geometry/collider_components.rs
View File

@@ -2,7 +2,7 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::geometry::{InteractionGroups, SAPProxyIndex, Shape, SharedShape};
use crate::math::{Isometry, Real};
use crate::parry::partitioning::IndexedData;
use crate::pipeline::PhysicsHooksFlags;
use crate::pipeline::{ActiveEvents, ActiveHooks};
use std::ops::Deref;
/// The unique identifier of a collider added to a collider set.
@@ -118,7 +118,7 @@ pub type ColliderShape = SharedShape;
#[derive(Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// The mass-properties of a collider.
pub enum ColliderMassProperties {
pub enum ColliderMassProps {
/// The collider is given a density.
///
/// Its actual `MassProperties` are computed automatically with
@@ -128,13 +128,19 @@ pub enum ColliderMassProperties {
MassProperties(Box<MassProperties>),
}
impl Default for ColliderMassProperties {
impl Default for ColliderMassProps {
fn default() -> Self {
ColliderMassProperties::Density(1.0)
ColliderMassProps::Density(1.0)
}
}
impl ColliderMassProperties {
impl From<MassProperties> for ColliderMassProps {
fn from(mprops: MassProperties) -> Self {
ColliderMassProps::MassProperties(Box::new(mprops))
}
}
impl ColliderMassProps {
/// The mass-properties of this collider.
///
/// If `self` is the `Density` variant, then this computes the mass-properties based
@@ -242,8 +248,6 @@ pub struct ColliderMaterial {
pub friction_combine_rule: CoefficientCombineRule,
/// The rule applied to combine the restitution coefficients of two colliders.
pub restitution_combine_rule: CoefficientCombineRule,
/// The physics hooks enabled for contact pairs and intersection pairs involving this collider.
pub active_hooks: PhysicsHooksFlags,
}
impl ColliderMaterial {
@@ -264,7 +268,43 @@ impl Default for ColliderMaterial {
restitution: 0.0,
friction_combine_rule: CoefficientCombineRule::default(),
restitution_combine_rule: CoefficientCombineRule::default(),
active_hooks: PhysicsHooksFlags::empty(),
}
}
}
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A set of flags controlling the active hooks and events for this colliders.
pub struct ColliderFlags {
/// The physics hooks enabled for contact pairs and intersection pairs involving this collider.
pub active_hooks: ActiveHooks,
/// The events enabled for this collider.
pub active_events: ActiveEvents,
}
impl Default for ColliderFlags {
fn default() -> Self {
Self {
active_hooks: ActiveHooks::empty(),
active_events: ActiveEvents::empty(),
}
}
}
impl From<ActiveHooks> for ColliderFlags {
fn from(active_hooks: ActiveHooks) -> Self {
Self {
active_hooks,
..Default::default()
}
}
}
impl From<ActiveEvents> for ColliderFlags {
fn from(active_events: ActiveEvents) -> Self {
Self {
active_events,
..Default::default()
}
}
}

7
src/geometry/collider_set.rs
View File

@@ -2,8 +2,8 @@ use crate::data::arena::Arena;
use crate::data::{ComponentSet, ComponentSetMut, ComponentSetOption};
use crate::dynamics::{IslandManager, RigidBodyHandle, RigidBodySet};
use crate::geometry::{
Collider, ColliderBroadPhaseData, ColliderGroups, ColliderMassProperties, ColliderMaterial,
ColliderParent, ColliderPosition, ColliderShape, ColliderType,
Collider, ColliderBroadPhaseData, ColliderFlags, ColliderGroups, ColliderMassProps,
ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
};
use crate::geometry::{ColliderChanges, ColliderHandle};
use std::ops::{Index, IndexMut};
@@ -59,10 +59,11 @@ macro_rules! impl_field_component_set(
impl_field_component_set!(ColliderType, co_type);
impl_field_component_set!(ColliderShape, co_shape);
impl_field_component_set!(ColliderMassProperties, co_mprops);
impl_field_component_set!(ColliderMassProps, co_mprops);
impl_field_component_set!(ColliderChanges, co_changes);
impl_field_component_set!(ColliderPosition, co_pos);
impl_field_component_set!(ColliderMaterial, co_material);
impl_field_component_set!(ColliderFlags, co_flags);
impl_field_component_set!(ColliderGroups, co_groups);
impl_field_component_set!(ColliderBroadPhaseData, co_bf_data);

177
src/geometry/narrow_phase.rs
View File

@@ -14,8 +14,10 @@ use crate::geometry::{
};
use crate::math::{Real, Vector};
use crate::pipeline::{
ContactModificationContext, EventHandler, PairFilterContext, PhysicsHooks, PhysicsHooksFlags,
ActiveEvents, ActiveHooks, ContactModificationContext, EventHandler, PairFilterContext,
PhysicsHooks,
};
use crate::prelude::ColliderFlags;
use parry::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
use parry::utils::IsometryOpt;
use std::collections::HashMap;
@@ -101,21 +103,26 @@ impl NarrowPhase {
///
/// It is strongly recommended to use the [`NarrowPhase::contacts_with`] method instead. This
/// method can be used if the generation number of the collider handle isn't known.
pub fn contacts_with_unknown_gen(
&self,
collider: u32,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
let id = self.graph_indices.get_unknown_gen(collider)?;
Some(self.contact_graph.interactions_with(id.contact_graph_index))
pub fn contacts_with_unknown_gen(&self, collider: u32) -> impl Iterator<Item = &ContactPair> {
self.graph_indices
.get_unknown_gen(collider)
.map(|id| id.contact_graph_index)
.into_iter()
.flat_map(move |id| self.contact_graph.interactions_with(id))
.map(|pair| pair.2)
}
/// All the contacts involving the given collider.
pub fn contacts_with(
pub fn contacts_with<'a>(
&self,
collider: ColliderHandle,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
let id = self.graph_indices.get(collider.0)?;
Some(self.contact_graph.interactions_with(id.contact_graph_index))
) -> impl Iterator<Item = &ContactPair> {
self.graph_indices
.get(collider.0)
.map(|id| id.contact_graph_index)
.into_iter()
.flat_map(move |id| self.contact_graph.interactions_with(id))
.map(|pair| pair.2)
}
/// All the intersections involving the given collider.
@@ -125,26 +132,32 @@ impl NarrowPhase {
pub fn intersections_with_unknown_gen(
&self,
collider: u32,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_> {
let id = self.graph_indices.get_unknown_gen(collider)?;
Some(
self.intersection_graph
.interactions_with(id.intersection_graph_index)
.map(|e| (e.0, e.1, *e.2)),
)
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ {
self.graph_indices
.get_unknown_gen(collider)
.map(|id| id.intersection_graph_index)
.into_iter()
.flat_map(move |id| {
self.intersection_graph
.interactions_with(id)
.map(|e| (e.0, e.1, *e.2))
})
}
/// All the intersections involving the given collider.
pub fn intersections_with(
&self,
collider: ColliderHandle,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_> {
let id = self.graph_indices.get(collider.0)?;
Some(
self.intersection_graph
.interactions_with(id.intersection_graph_index)
.map(|e| (e.0, e.1, *e.2)),
)
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ {
self.graph_indices
.get(collider.0)
.map(|id| id.intersection_graph_index)
.into_iter()
.flat_map(move |id| {
self.intersection_graph
.interactions_with(id)
.map(|e| (e.0, e.1, *e.2))
})
}
/// The contact pair involving two specific colliders.
@@ -244,8 +257,9 @@ impl NarrowPhase {
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>,
Colliders: ComponentSet<ColliderChanges>
+ ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderType>,
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>
+ ComponentSetOption<ColliderParent>,
{
// TODO: avoid these hash-maps.
// They are necessary to handle the swap-remove done internally
@@ -340,8 +354,9 @@ impl NarrowPhase {
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>,
Colliders: ComponentSet<ColliderChanges>
+ ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderType>,
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>
+ ComponentSetOption<ColliderParent>,
{
let mut pairs_to_remove = vec![];
@@ -456,7 +471,9 @@ impl NarrowPhase {
Bodies: ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>,
Colliders: ComponentSet<ColliderType> + ComponentSetOption<ColliderParent>,
Colliders: ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>
+ ComponentSetOption<ColliderParent>,
{
let co_type1: Option<&ColliderType> = colliders.get(pair.collider1.0);
let co_type2: Option<&ColliderType> = colliders.get(pair.collider2.0);
@@ -478,9 +495,16 @@ impl NarrowPhase {
// Emit an intersection lost event if we had an intersection before removing the edge.
if Some(true) == was_intersecting {
let prox_event =
IntersectionEvent::new(pair.collider1, pair.collider2, false);
events.handle_intersection_event(prox_event)
let co_flag1: &ColliderFlags = colliders.index(pair.collider1.0);
let co_flag2: &ColliderFlags = colliders.index(pair.collider2.0);
if (co_flag1.active_events | co_flag2.active_events)
.contains(ActiveEvents::INTERSECTION_EVENTS)
{
let prox_event =
IntersectionEvent::new(pair.collider1, pair.collider2, false);
events.handle_intersection_event(prox_event)
}
}
} else {
let contact_pair = self
@@ -506,10 +530,17 @@ impl NarrowPhase {
}
}
events.handle_contact_event(ContactEvent::Stopped(
pair.collider1,
pair.collider2,
))
let co_flag1: &ColliderFlags = colliders.index(pair.collider1.0);
let co_flag2: &ColliderFlags = colliders.index(pair.collider2.0);
if (co_flag1.active_events | co_flag2.active_events)
.contains(ActiveEvents::CONTACT_EVENTS)
{
events.handle_contact_event(
ContactEvent::Stopped(pair.collider1, pair.collider2),
&ctct,
)
}
}
}
}
@@ -606,9 +637,11 @@ impl NarrowPhase {
events: &dyn EventHandler,
) where
Bodies: ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>,
Colliders: ComponentSet<ColliderType> + ComponentSetOption<ColliderParent>,
+ ComponentSetMut<RigidBodyIds>
+ ComponentSet<RigidBodyType>,
Colliders: ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>
+ ComponentSetOption<ColliderParent>,
{
for event in broad_phase_events {
match event {
@@ -645,7 +678,8 @@ impl NarrowPhase {
+ ComponentSet<ColliderGroups>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderMaterial>,
+ ComponentSet<ColliderMaterial>
+ ComponentSet<ColliderFlags>,
{
if modified_colliders.is_empty() {
return;
@@ -660,21 +694,21 @@ impl NarrowPhase {
let handle2 = nodes[edge.target().index()].weight;
let co_parent1: Option<&ColliderParent> = colliders.get(handle1.0);
let (co_changes1, co_groups1, co_shape1, co_pos1, co_material1): (
let (co_changes1, co_groups1, co_shape1, co_pos1, co_flags1): (
&ColliderChanges,
&ColliderGroups,
&ColliderShape,
&ColliderPosition,
&ColliderMaterial,
&ColliderFlags,
) = colliders.index_bundle(handle1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(handle2.0);
let (co_changes2, co_groups2, co_shape2, co_pos2, co_material2): (
let (co_changes2, co_groups2, co_shape2, co_pos2, co_flags2): (
&ColliderChanges,
&ColliderGroups,
&ColliderShape,
&ColliderPosition,
&ColliderMaterial,
&ColliderFlags,
) = colliders.index_bundle(handle2.0);
if !co_changes1.needs_narrow_phase_update() && !co_changes2.needs_narrow_phase_update()
@@ -717,9 +751,10 @@ impl NarrowPhase {
return;
}
let active_hooks = co_material1.active_hooks | co_material2.active_hooks;
let active_hooks = co_flags1.active_hooks | co_flags2.active_hooks;
let active_events = co_flags1.active_events | co_flags2.active_events;
if !active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR)
if !active_hooks.contains(ActiveHooks::FILTER_INTERSECTION_PAIR)
&& !status1.is_dynamic()
&& !status2.is_dynamic()
{
@@ -727,7 +762,7 @@ impl NarrowPhase {
return;
}
if active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR) {
if active_hooks.contains(ActiveHooks::FILTER_INTERSECTION_PAIR) {
let context = PairFilterContext {
bodies,
colliders,
@@ -748,7 +783,9 @@ impl NarrowPhase {
if let Ok(intersection) =
query_dispatcher.intersection_test(&pos12, &**co_shape1, &**co_shape2)
{
if intersection != edge.weight {
if active_events.contains(ActiveEvents::INTERSECTION_EVENTS)
&& intersection != edge.weight
{
edge.weight = intersection;
events.handle_intersection_event(IntersectionEvent::new(
handle1,
@@ -777,7 +814,8 @@ impl NarrowPhase {
+ ComponentSet<ColliderGroups>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderMaterial>,
+ ComponentSet<ColliderMaterial>
+ ComponentSet<ColliderFlags>,
{
if modified_colliders.is_empty() {
return;
@@ -790,21 +828,23 @@ impl NarrowPhase {
let pair = &mut edge.weight;
let co_parent1: Option<&ColliderParent> = colliders.get(pair.collider1.0);
let (co_changes1, co_groups1, co_shape1, co_pos1, co_material1): (
let (co_changes1, co_groups1, co_shape1, co_pos1, co_material1, co_flags1): (
&ColliderChanges,
&ColliderGroups,
&ColliderShape,
&ColliderPosition,
&ColliderMaterial,
&ColliderFlags,
) = colliders.index_bundle(pair.collider1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(pair.collider2.0);
let (co_changes2, co_groups2, co_shape2, co_pos2, co_material2): (
let (co_changes2, co_groups2, co_shape2, co_pos2, co_material2, co_flags2): (
&ColliderChanges,
&ColliderGroups,
&ColliderShape,
&ColliderPosition,
&ColliderMaterial,
&ColliderFlags,
) = colliders.index_bundle(pair.collider2.0);
if !co_changes1.needs_narrow_phase_update() && !co_changes2.needs_narrow_phase_update()
@@ -847,8 +887,10 @@ impl NarrowPhase {
return;
}
let active_hooks = co_material1.active_hooks | co_material2.active_hooks;
if !active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
let active_hooks = co_flags1.active_hooks | co_flags2.active_hooks;
let active_events = co_flags1.active_events | co_flags2.active_events;
if !active_hooks.contains(ActiveHooks::FILTER_CONTACT_PAIRS)
&& !status1.is_dynamic()
&& !status2.is_dynamic()
{
@@ -856,8 +898,7 @@ impl NarrowPhase {
return;
}
let mut solver_flags = if active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
{
let mut solver_flags = if active_hooks.contains(ActiveHooks::FILTER_CONTACT_PAIRS) {
let context = PairFilterContext {
bodies,
colliders,
@@ -959,7 +1000,7 @@ impl NarrowPhase {
}
// Apply the user-defined contact modification.
if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS) {
if active_hooks.contains(ActiveHooks::MODIFY_SOLVER_CONTACTS) {
let mut modifiable_solver_contacts =
std::mem::replace(&mut manifold.data.solver_contacts, Vec::new());
let mut modifiable_user_data = manifold.data.user_data;
@@ -987,16 +1028,18 @@ impl NarrowPhase {
}
if has_any_active_contact != pair.has_any_active_contact {
if has_any_active_contact {
events.handle_contact_event(ContactEvent::Started(
pair.collider1,
pair.collider2,
));
} else {
events.handle_contact_event(ContactEvent::Stopped(
pair.collider1,
pair.collider2,
));
if active_events.contains(ActiveEvents::CONTACT_EVENTS) {
if has_any_active_contact {
events.handle_contact_event(
ContactEvent::Started(pair.collider1, pair.collider2),
pair,
);
} else {
events.handle_contact_event(
ContactEvent::Stopped(pair.collider1, pair.collider2),
pair,
);
}
}
pair.has_any_active_contact = has_any_active_contact;