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Merge pull request #333 from dimforge/misc-changes

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Rename STATIC -> FIXED and joints_with -> attached_joints
This commit is contained in:
Sébastien Crozet
2022-05-30 18:28:59 +02:00
committed by GitHub
parent 033a26aac4 3508ab4356
commit c630635e57
4 changed files with 38 additions and 21 deletions
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2
src/dynamics/island_manager.rs
View File

@@ -256,7 +256,7 @@ impl IslandManager {
// in contact or joined with this collider.
push_contacting_bodies(&rb.colliders, colliders, narrow_phase, &mut self.stack);
for inter in impulse_joints.joints_with(handle) {
for inter in impulse_joints.attached_joints(handle) {
let other = crate::utils::select_other((inter.0, inter.1), handle);
self.stack.push(other);
}

14
src/dynamics/joint/impulse_joint/impulse_joint_set.rs
View File

@@ -69,15 +69,23 @@ impl ImpulseJointSet {
&self.joint_graph
}
/// Iterates through all the impulse_joints attached to the given rigid-body.
pub fn joints_with<'a>(
/// Iterates through all the impulse joints attached to the given rigid-body.
pub fn attached_joints<'a>(
&'a self,
body: RigidBodyHandle,
) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, &'a ImpulseJoint)> {
) -> impl Iterator<
Item = (
RigidBodyHandle,
RigidBodyHandle,
ImpulseJointHandle,
&'a ImpulseJoint,
),
> {
self.rb_graph_ids
.get(body.0)
.into_iter()
.flat_map(move |id| self.joint_graph.interactions_with(*id))
.map(|inter| (inter.0, inter.1, inter.2.handle, inter.2))
}
/// Is the given joint handle valid?

25
src/dynamics/joint/multibody_joint/multibody_joint_set.rs
View File

@@ -252,14 +252,8 @@ impl MultibodyJointSet {
.connectivity_graph
.interactions_with(link_to_remove.graph_id)
{
// There is an multibody_joint that we need to remove between these two bodies.
// If this is an outbound edge, then the multibody_joint’s handle is equal to the
// second body handle.
if rb1 == rb_to_remove {
articulations_to_remove.push(MultibodyJointHandle(rb2.0));
} else {
articulations_to_remove.push(MultibodyJointHandle(rb1.0));
}
// There is a multibody_joint handle is equal to the second rigid-body’s handle.
articulations_to_remove.push(MultibodyJointHandle(rb2.0));
islands.wake_up(bodies, rb1, true);
islands.wake_up(bodies, rb2, true);
@@ -338,6 +332,21 @@ impl MultibodyJointSet {
))
}
/// Iterates through all the joints attached to the given rigid-body.
pub fn attached_joints(
&self,
rb: RigidBodyHandle,
) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, MultibodyJointHandle)> + '_ {
self.rb2mb
.get(rb.0)
.into_iter()
.flat_map(move |link| self.connectivity_graph.interactions_with(link.graph_id))
.map(|inter| {
// NOTE: the joint handle is always equal to the handle of the second rigid-body.
(inter.0, inter.1, MultibodyJointHandle(inter.1 .0))
})
}
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by an multibody_joint.
pub fn attached_bodies<'a>(

18
src/geometry/collider_components.rs
View File

@@ -286,19 +286,19 @@ bitflags::bitflags! {
const DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100;
/// Enable collision-detection between a collider attached to a dynamic body
/// and another collider attached to a fixed body (or not attached to any body).
const DYNAMIC_STATIC = 0b0000_0000_0000_0010;
const DYNAMIC_FIXED = 0b0000_0000_0000_0010;
/// Enable collision-detection between a collider attached to a kinematic body
/// and another collider attached to a kinematic body.
const KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000;
/// Enable collision-detection between a collider attached to a kinematic body
/// and another collider attached to a fixed body (or not attached to any body).
const KINEMATIC_STATIC = 0b0010_0010_0000_0000;
const KINEMATIC_FIXED = 0b0010_0010_0000_0000;
/// Enable collision-detection between a collider attached to a fixed body (or
/// not attached to any body) and another collider attached to a fixed body (or
/// not attached to any body).
const STATIC_STATIC = 0b0000_0000_0010_0000;
const FIXED_FIXED = 0b0000_0000_0010_0000;
}
}
@@ -308,20 +308,20 @@ impl ActiveCollisionTypes {
// NOTE: This test is quite complicated so here is an explanation.
// First, we associate the following bit masks:
// - DYNAMIC = 0001
// - STATIC = 0010
// - FIXED = 0010
// - KINEMATIC = 1100
// These are equal to the bits indexed by `RigidBodyType as u32`.
// The bit masks defined by ActiveCollisionTypes are defined is such a way
// that the first part of the variant name (e.g. DYNAMIC_*) indicates which
// groups of four bits should be considered:
// - DYNAMIC_* = the first group of four bits.
// - STATIC_* = the second group of four bits.
// - FIXED_* = the second group of four bits.
// - KINEMATIC_* = the third and fourth groups of four bits.
// The second part of the variant name (e.g. *_DYNAMIC) indicates the value
// of the aforementioned groups of four bits.
// For example, DYNAMIC_STATIC means that the first group of four bits (because
// of DYNAMIC_*) must have the value 0010 (because of *_STATIC). That gives
// us 0b0000_0000_0000_0010 for the DYNAMIC_STATIC_VARIANT.
// For example, DYNAMIC_FIXED means that the first group of four bits (because
// of DYNAMIC_*) must have the value 0010 (because of *_FIXED). That gives
// us 0b0000_0000_0000_0010 for the DYNAMIC_FIXED_VARIANT.
//
// The KINEMATIC_* is special because it occupies two groups of four bits. This is
// because it combines both KinematicPositionBased and KinematicVelocityBased.
@@ -347,7 +347,7 @@ impl Default for ActiveCollisionTypes {
fn default() -> Self {
ActiveCollisionTypes::DYNAMIC_DYNAMIC
| ActiveCollisionTypes::DYNAMIC_KINEMATIC
| ActiveCollisionTypes::DYNAMIC_STATIC
| ActiveCollisionTypes::DYNAMIC_FIXED
}
}