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Split rigid-bodies and colliders into multiple components

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This commit is contained in:
Crozet Sébastien
2021-04-26 17:59:25 +02:00
parent aaf80bfa87
commit c32da78f2a
91 changed files with 5969 additions and 3653 deletions
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4
src_testbed/box2d_backend.rs
View File

@@ -158,8 +158,8 @@ impl Box2dWorld {
let center = na_vec_to_b2_vec(collider.position_wrt_parent().translation.vector);
let mut fixture_def = b2::FixtureDef::new();
fixture_def.restitution = collider.restitution;
fixture_def.friction = collider.friction;
fixture_def.restitution = collider.material().restitution;
fixture_def.friction = collider.material().friction;
fixture_def.density = collider.density().unwrap_or(1.0);
fixture_def.is_sensor = collider.is_sensor();
fixture_def.filter = b2::Filter::new();

14
src_testbed/harness/mod.rs
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@@ -4,7 +4,7 @@ use crate::{
};
use kiss3d::window::Window;
use plugin::HarnessPlugin;
use rapier::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
use rapier::dynamics::{CCDSolver, IntegrationParameters, IslandManager, JointSet, RigidBodySet};
use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -120,7 +120,7 @@ impl Harness {
colliders: ColliderSet,
joints: JointSet,
gravity: Vector<f32>,
hooks: impl PhysicsHooks + 'static,
hooks: impl PhysicsHooks<RigidBodySet, ColliderSet> + 'static,
) {
// println!("Num bodies: {}", bodies.len());
// println!("Num joints: {}", joints.len());
@@ -130,6 +130,7 @@ impl Harness {
self.physics.joints = joints;
self.physics.hooks = Box::new(hooks);
self.physics.islands = IslandManager::new();
self.physics.broad_phase = BroadPhase::new();
self.physics.narrow_phase = NarrowPhase::new();
self.state.timestep_id = 0;
@@ -191,6 +192,7 @@ impl Harness {
self.physics.pipeline.step(
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.islands,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
@@ -201,9 +203,11 @@ impl Harness {
&self.event_handler,
);
self.physics
.query_pipeline
.update(&self.physics.bodies, &self.physics.colliders);
self.physics.query_pipeline.update(
&self.physics.islands,
&self.physics.bodies,
&self.physics.colliders,
);
for plugin in &mut self.plugins {
plugin.step(&mut self.physics, &self.state)

6
src_testbed/physics/mod.rs
View File

@@ -1,5 +1,5 @@
use crossbeam::channel::Receiver;
use rapier::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
use rapier::dynamics::{CCDSolver, IntegrationParameters, IslandManager, JointSet, RigidBodySet};
use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -68,6 +68,7 @@ impl PhysicsSnapshot {
}
pub struct PhysicsState {
pub islands: IslandManager,
pub broad_phase: BroadPhase,
pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet,
@@ -78,12 +79,13 @@ pub struct PhysicsState {
pub query_pipeline: QueryPipeline,
pub integration_parameters: IntegrationParameters,
pub gravity: Vector<f32>,
pub hooks: Box<dyn PhysicsHooks>,
pub hooks: Box<dyn PhysicsHooks<RigidBodySet, ColliderSet>>,
}
impl PhysicsState {
pub fn new() -> Self {
Self {
islands: IslandManager::new(),
broad_phase: BroadPhase::new(),
narrow_phase: NarrowPhase::new(),
bodies: RigidBodySet::new(),

6
src_testbed/physx_backend.rs
View File

@@ -520,9 +520,9 @@ fn physx_collider_from_rapier_collider(
};
let mut material = physics
.create_material(
collider.friction,
collider.friction,
collider.restitution,
collider.co_material.friction,
collider.co_material.friction,
collider.co_material.restitution,
(),
)
.unwrap();

15
src_testbed/testbed.rs
View File

@@ -19,7 +19,7 @@ use kiss3d::text::Font;
use kiss3d::window::{State, Window};
use na::{self, Point2, Point3, Vector3};
use rapier::dynamics::{
ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet,
IntegrationParameters, JointSet, RigidBodyActivation, RigidBodyHandle, RigidBodySet,
};
use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
#[cfg(feature = "dim3")]
@@ -245,7 +245,7 @@ impl Testbed {
colliders: ColliderSet,
joints: JointSet,
gravity: Vector<f32>,
hooks: impl PhysicsHooks + 'static,
hooks: impl PhysicsHooks<RigidBodySet, ColliderSet> + 'static,
) {
self.harness
.set_world_with_params(bodies, colliders, joints, gravity, hooks);
@@ -586,6 +586,7 @@ impl Testbed {
for to_delete in &colliders[..num_to_delete] {
self.harness.physics.colliders.remove(
to_delete[0],
&mut self.harness.physics.islands,
&mut self.harness.physics.bodies,
true,
);
@@ -605,6 +606,7 @@ impl Testbed {
for to_delete in &dynamic_bodies[..num_to_delete] {
self.harness.physics.bodies.remove(
*to_delete,
&mut self.harness.physics.islands,
&mut self.harness.physics.colliders,
&mut self.harness.physics.joints,
);
@@ -617,6 +619,7 @@ impl Testbed {
for to_delete in &joints[..num_to_delete] {
self.harness.physics.joints.remove(
*to_delete,
&mut self.harness.physics.islands,
&mut self.harness.physics.bodies,
true,
);
@@ -1205,13 +1208,13 @@ impl State for Testbed {
!= self.state.flags.contains(TestbedStateFlags::SLEEP)
{
if self.state.flags.contains(TestbedStateFlags::SLEEP) {
for (_, mut body) in self.harness.physics.bodies.iter_mut() {
body.activation.threshold = ActivationStatus::default_threshold();
for (_, body) in self.harness.physics.bodies.iter_mut() {
body.activation_mut().threshold = RigidBodyActivation::default_threshold();
}
} else {
for (_, mut body) in self.harness.physics.bodies.iter_mut() {
for (_, body) in self.harness.physics.bodies.iter_mut() {
body.wake_up(true);
body.activation.threshold = -1.0;
body.activation_mut().threshold = -1.0;
}
}
}