Update the testbed to use PhysicsHooks.

examples2d/all_examples2.rs

@@ -18,6 +18,7 @@ mod debug_box_ball2;
 mod heightfield2;
 mod joints2;
 mod locked_rotations2;
+mod one_way_platforms2;
 mod platform2;
 mod polyline2;
 mod pyramid2;
@@ -65,6 +66,7 @@ pub fn main() {
         ("Heightfield", heightfield2::init_world),
         ("Joints", joints2::init_world),
         ("Locked rotations", locked_rotations2::init_world),
+        ("One-way platforms", one_way_platforms2::init_world),
         ("Platform", platform2::init_world),
         ("Polyline", polyline2::init_world),
         ("Pyramid", pyramid2::init_world),

examples2d/damping2.rs

@@ -40,6 +40,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world_with_gravity(bodies, colliders, joints, Vector2::zeros());
+    testbed.set_world_with_params(bodies, colliders, joints, Vector2::zeros(), ());
     testbed.look_at(Point2::new(3.0, 2.0), 50.0);
 }

examples3d/all_examples3.rs

@@ -29,6 +29,7 @@ mod heightfield3;
 mod joints3;
 mod keva3;
 mod locked_rotations3;
+mod one_way_platforms3;
 mod platform3;
 mod primitives3;
 mod restitution3;
@@ -83,6 +84,7 @@ pub fn main() {
         ("Heightfield", heightfield3::init_world),
         ("Joints", joints3::init_world),
         ("Locked rotations", locked_rotations3::init_world),
+        ("One-way platforms", one_way_platforms3::init_world),
         ("Platform", platform3::init_world),
         ("Restitution", restitution3::init_world),
         ("Sensor", sensor3::init_world),

examples3d/damping3.rs

@@ -40,6 +40,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world_with_gravity(bodies, colliders, joints, Vector3::zeros());
+    testbed.set_world_with_params(bodies, colliders, joints, Vector3::zeros(), ());
     testbed.look_at(Point3::new(2.0, 2.5, 20.0), Point3::new(2.0, 2.5, 0.0));
 }

src/geometry/collider.rs

@@ -1,5 +1,5 @@
 use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
-use crate::geometry::{InteractionGroups, SharedShape};
+use crate::geometry::{InteractionGroups, SharedShape, SolverFlags};
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
 use crate::parry::transformation::vhacd::VHACDParameters;
 use parry::bounding_volume::AABB;
@@ -50,6 +50,7 @@ pub struct Collider {
     shape: SharedShape,
     density: Real,
     pub(crate) flags: ColliderFlags,
+    pub(crate) solver_flags: SolverFlags,
     pub(crate) parent: RigidBodyHandle,
     pub(crate) delta: Isometry<Real>,
     pub(crate) position: Isometry<Real>,
@@ -159,6 +160,9 @@ pub struct ColliderBuilder {
     pub delta: Isometry<Real>,
     /// Is this collider a sensor?
     pub is_sensor: bool,
+    /// Do we have to always call the contact modifier
+    /// on this collider?
+    pub modify_contacts: bool,
     /// The user-data of the collider being built.
     pub user_data: u128,
     /// The collision groups for the collider being built.
@@ -182,6 +186,7 @@ impl ColliderBuilder {
             solver_groups: InteractionGroups::all(),
             friction_combine_rule: CoefficientCombineRule::Average,
             restitution_combine_rule: CoefficientCombineRule::Average,
+            modify_contacts: false,
         }
     }
 
@@ -456,6 +461,13 @@ impl ColliderBuilder {
         self
     }
 
+    /// If set to `true` then the physics hooks will always run to modify
+    /// contacts involving this collider.
+    pub fn modify_contacts(mut self, modify_contacts: bool) -> Self {
+        self.modify_contacts = modify_contacts;
+        self
+    }
+
     /// Sets the friction coefficient of the collider this builder will build.
     pub fn friction(mut self, friction: Real) -> Self {
         self.friction = friction;
@@ -534,6 +546,8 @@ impl ColliderBuilder {
         flags = flags
             .with_friction_combine_rule(self.friction_combine_rule)
             .with_restitution_combine_rule(self.restitution_combine_rule);
+        let mut solver_flags = SolverFlags::default();
+        solver_flags.set(SolverFlags::MODIFY_SOLVER_CONTACTS, self.modify_contacts);
 
         Collider {
             shape: self.shape.clone(),
@@ -542,6 +556,7 @@ impl ColliderBuilder {
             restitution: self.restitution,
             delta: self.delta,
             flags,
+            solver_flags,
             parent: RigidBodyHandle::invalid(),
             position: Isometry::identity(),
             predicted_position: Isometry::identity(),

src/geometry/contact_pair.rs

@@ -16,6 +16,12 @@ bitflags::bitflags! {
     }
 }
 
+impl Default for SolverFlags {
+    fn default() -> Self {
+        SolverFlags::COMPUTE_IMPULSES
+    }
+}
+
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// A single contact between two collider.
@@ -126,10 +132,11 @@ pub struct SolverContact {
     pub friction: Real,
     /// The effective restitution coefficient at this contact point.
     pub restitution: Real,
-    /// The artificially add relative velocity at the contact point.
+    /// The desired tangent relative velocity at the contact point.
+    ///
     /// This is set to zero by default. Set to a non-zero value to
     /// simulate, e.g., conveyor belts.
-    pub surface_velocity: Vector<Real>,
+    pub tangent_velocity: Vector<Real>,
     /// Associated contact data used to warm-start the constraints
     /// solver.
     pub data: ContactData,

src/geometry/mod.rs

@@ -10,7 +10,6 @@ pub use self::interaction_graph::{
 };
 pub use self::interaction_groups::InteractionGroups;
 pub use self::narrow_phase::NarrowPhase;
-pub use self::pair_filter::{PairFilterContext, PhysicsHooks};
 
 pub use parry::query::TrackedContact;
 
@@ -109,4 +108,3 @@ mod contact_pair;
 mod interaction_graph;
 mod interaction_groups;
 mod narrow_phase;
-mod pair_filter;

src/geometry/narrow_phase.rs

@@ -4,15 +4,15 @@ use rayon::prelude::*;
 use crate::data::pubsub::Subscription;
 use crate::data::Coarena;
 use crate::dynamics::{BodyPair, CoefficientCombineRule, RigidBodySet};
-use crate::geometry::pair_filter::{ContactModificationContext, PhysicsHooksFlags};
 use crate::geometry::{
-    BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactData, ContactEvent,
-    ContactManifoldData, IntersectionEvent, PairFilterContext, PhysicsHooks, RemovedCollider,
-    SolverContact, SolverFlags,
+    BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ColliderSet, ContactData,
+    ContactEvent, ContactManifold, ContactManifoldData, ContactPair, InteractionGraph,
+    IntersectionEvent, RemovedCollider, SolverContact, SolverFlags,
 };
-use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
 use crate::math::{Real, Vector};
-use crate::pipeline::EventHandler;
+use crate::pipeline::{
+    ContactModificationContext, EventHandler, PairFilterContext, PhysicsHooks, PhysicsHooksFlags,
+};
 use parry::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
 use parry::utils::IsometryOpt;
 use std::collections::HashMap;
@@ -518,7 +518,7 @@ impl NarrowPhase {
                     return;
                 }
             } else {
-                SolverFlags::COMPUTE_IMPULSES
+                co1.solver_flags | co2.solver_flags
             };
 
             if !co1.solver_groups.test(co2.solver_groups) {
@@ -573,7 +573,7 @@ impl NarrowPhase {
                             dist: contact.dist,
                             friction,
                             restitution,
-                            surface_velocity: Vector::zeros(),
+                            tangent_velocity: Vector::zeros(),
                             data: contact.data,
                         };
 

src/pipeline/collision_pipeline.rs

@@ -1,11 +1,9 @@
 //! Physics pipeline structures.
 
 use crate::dynamics::{JointSet, RigidBodySet};
-use crate::geometry::{
-    BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase, PhysicsHooks,
-};
+use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase};
 use crate::math::Real;
-use crate::pipeline::EventHandler;
+use crate::pipeline::{EventHandler, PhysicsHooks};
 
 /// The collision pipeline, responsible for performing collision detection between colliders.
 ///

src/pipeline/mod.rs

@@ -2,10 +2,14 @@
 
 pub use collision_pipeline::CollisionPipeline;
 pub use event_handler::{ChannelEventCollector, EventHandler};
+pub use physics_hooks::{
+    ContactModificationContext, PairFilterContext, PhysicsHooks, PhysicsHooksFlags,
+};
 pub use physics_pipeline::PhysicsPipeline;
 pub use query_pipeline::QueryPipeline;
 
 mod collision_pipeline;
 mod event_handler;
+mod physics_hooks;
 mod physics_pipeline;
 mod query_pipeline;

src_testbed/harness/mod.rs

@@ -7,7 +7,7 @@ use plugin::HarnessPlugin;
 use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
 use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
 use rapier::math::Vector;
-use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
+use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
 pub mod plugin;
 
@@ -111,15 +111,16 @@ impl Harness {
     }
 
     pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
-        self.set_world_with_gravity(bodies, colliders, joints, Vector::y() * -9.81)
+        self.set_world_with_params(bodies, colliders, joints, Vector::y() * -9.81, ())
     }
 
-    pub fn set_world_with_gravity(
+    pub fn set_world_with_params(
         &mut self,
         bodies: RigidBodySet,
         colliders: ColliderSet,
         joints: JointSet,
         gravity: Vector<f32>,
+        hooks: impl PhysicsHooks + 'static,
     ) {
         // println!("Num bodies: {}", bodies.len());
         // println!("Num joints: {}", joints.len());
@@ -127,6 +128,8 @@ impl Harness {
         self.physics.bodies = bodies;
         self.physics.colliders = colliders;
         self.physics.joints = joints;
+        self.physics.hooks = Box::new(hooks);
+
         self.physics.broad_phase = BroadPhase::new();
         self.physics.narrow_phase = NarrowPhase::new();
         self.state.timestep_id = 0;
@@ -176,8 +179,7 @@ impl Harness {
                     &mut physics.bodies,
                     &mut physics.colliders,
                     &mut physics.joints,
-                    None,
-                    None,
+                    &*physics.hooks,
                     event_handler,
                 );
             });
@@ -192,7 +194,7 @@ impl Harness {
             &mut self.physics.bodies,
             &mut self.physics.colliders,
             &mut self.physics.joints,
-            &(),
+            &*self.physics.hooks,
             &self.event_handler,
         );
 

src_testbed/physics/mod.rs

@@ -2,7 +2,7 @@ use crossbeam::channel::Receiver;
 use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
 use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
 use rapier::math::Vector;
-use rapier::pipeline::{PhysicsPipeline, QueryPipeline};
+use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
 pub struct PhysicsSnapshot {
     timestep_id: usize,
@@ -77,6 +77,7 @@ pub struct PhysicsState {
     pub query_pipeline: QueryPipeline,
     pub integration_parameters: IntegrationParameters,
     pub gravity: Vector<f32>,
+    pub hooks: Box<dyn PhysicsHooks>,
 }
 
 impl PhysicsState {
@@ -91,6 +92,7 @@ impl PhysicsState {
             query_pipeline: QueryPipeline::new(),
             integration_parameters: IntegrationParameters::default(),
             gravity: Vector::y() * -9.81,
+            hooks: Box::new(()),
         }
     }
 }

src_testbed/testbed.rs

@@ -25,6 +25,7 @@ use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
 #[cfg(feature = "dim3")]
 use rapier::geometry::{InteractionGroups, Ray};
 use rapier::math::{Isometry, Vector};
+use rapier::pipeline::PhysicsHooks;
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
 use crate::box2d_backend::Box2dWorld;
@@ -245,20 +246,19 @@ impl Testbed {
     }
 
     pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
-        self.set_world_with_gravity(bodies, colliders, joints, Vector::y() * -9.81)
+        self.set_world_with_params(bodies, colliders, joints, Vector::y() * -9.81, ())
     }
 
-    pub fn set_world_with_gravity(
+    pub fn set_world_with_params(
         &mut self,
         bodies: RigidBodySet,
         colliders: ColliderSet,
         joints: JointSet,
         gravity: Vector<f32>,
+        hooks: impl PhysicsHooks + 'static,
     ) {
-        println!("Num bodies: {}", bodies.len());
-        println!("Num joints: {}", joints.len());
         self.harness
-            .set_world_with_gravity(bodies, colliders, joints, gravity);
+            .set_world_with_params(bodies, colliders, joints, gravity, hooks);
 
         self.state
             .action_flags