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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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177
src/geometry/narrow_phase.rs
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@@ -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;