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Remove the default-sets feature

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This commit is contained in:
Sébastien Crozet
2022-04-20 16:28:22 +02:00
committed by Sébastien Crozet
parent f108520b5a
commit 9237bfd530
9 changed files with 17 additions and 114 deletions
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59
src/pipeline/physics_pipeline.rs
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@@ -5,7 +5,7 @@ use crate::counters::Counters;
use crate::dynamics::IslandSolver;
use crate::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodyHandle, RigidBodyPosition, RigidBodyType,
RigidBodyPosition, RigidBodyType,
};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
@@ -15,8 +15,6 @@ use crate::geometry::{
};
use crate::math::{Real, Vector};
use crate::pipeline::{EventHandler, PhysicsHooks};
#[cfg(feature = "default-sets")]
use {crate::dynamics::RigidBodySet, crate::geometry::ColliderSet};
/// The physics pipeline, responsible for stepping the whole physics simulation.
@@ -358,7 +356,6 @@ impl PhysicsPipeline {
///
/// This is the same as `self.step_generic`, except that it is specialized
/// to work with `RigidBodySet` and `ColliderSet`.
#[cfg(feature = "default-sets")]
pub fn step(
&mut self,
gravity: &Vector<Real>,
@@ -374,48 +371,10 @@ impl PhysicsPipeline {
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
let mut modified_bodies = bodies.take_modified();
let modified_bodies = bodies.take_modified();
let mut modified_colliders = colliders.take_modified();
let mut removed_colliders = colliders.take_removed();
self.step_generic(
gravity,
integration_parameters,
islands,
broad_phase,
narrow_phase,
bodies,
colliders,
&mut modified_bodies,
&mut modified_colliders,
&mut removed_colliders,
impulse_joints,
multibody_joints,
ccd_solver,
hooks,
events,
);
}
/// Executes one timestep of the physics simulation.
pub fn step_generic(
&mut self,
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
modified_bodies: &mut Vec<RigidBodyHandle>,
modified_colliders: &mut Vec<ColliderHandle>,
removed_colliders: &mut Vec<ColliderHandle>,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
self.counters.reset();
self.counters.step_started();
@@ -429,7 +388,7 @@ impl PhysicsPipeline {
bodies,
colliders,
&modified_bodies,
modified_colliders,
&mut modified_colliders,
);
// TODO: do this only on user-change.
@@ -449,13 +408,13 @@ impl PhysicsPipeline {
bodies,
colliders,
&modified_colliders[..],
removed_colliders,
&mut removed_colliders,
hooks,
events,
true,
);
self.clear_modified_colliders(colliders, modified_colliders);
self.clear_modified_colliders(colliders, &mut modified_colliders);
removed_colliders.clear();
let mut remaining_time = integration_parameters.dt;
@@ -563,7 +522,7 @@ impl PhysicsPipeline {
}
}
self.advance_to_final_positions(islands, bodies, colliders, modified_colliders);
self.advance_to_final_positions(islands, bodies, colliders, &mut modified_colliders);
self.detect_collisions(
&integration_parameters,
@@ -572,14 +531,14 @@ impl PhysicsPipeline {
narrow_phase,
bodies,
colliders,
modified_colliders,
removed_colliders,
&mut modified_colliders,
&mut removed_colliders,
hooks,
events,
false,
);
self.clear_modified_colliders(colliders, modified_colliders);
self.clear_modified_colliders(colliders, &mut modified_colliders);
}
self.counters.step_completed();