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Emit collision stopped events after a collider is removed.

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This commit is contained in:
Sébastien Crozet
2022-03-20 12:13:32 +01:00
committed by Sébastien Crozet
parent 063c638ec5
commit d38740369c
6 changed files with 146 additions and 71 deletions
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1
CHANGELOG.md
View File

@@ -14,6 +14,7 @@
to simplify the user’s event handling.
- The `ActiveEvents::CONTACT_EVENTS` and `ActiveEvents::INTERSECTION_EVENTS` flags have been replaced by a single
flag `ActiveEvents::COLLISION_EVENTS`.
- Events `CollisionEvent::Stopped` are now generated after a collider is removed.
## v0.12.0-alpha.0 (2 Jan. 2022)
### Fixed

4
src/dynamics/ccd/ccd_solver.rs
View File

@@ -616,8 +616,8 @@ impl CCDSolver {
.contains(ActiveEvents::COLLISION_EVENTS)
{
// Emit one intersection-started and one intersection-stopped event.
events.handle_intersection_event(CollisionEvent::Started(toi.c1, toi.c2));
events.handle_intersection_event(CollisionEvent::Stopped(toi.c1, toi.c2));
events.handle_collision_event(CollisionEvent::Started(toi.c1, toi.c2), None);
events.handle_collision_event(CollisionEvent::Stopped(toi.c1, toi.c2, false), None);
}
}

63
src/geometry/contact_pair.rs
View File

@@ -1,8 +1,11 @@
use crate::dynamics::RigidBodyHandle;
use crate::geometry::{ColliderHandle, Contact, ContactManifold};
use crate::math::{Point, Real, Vector};
use crate::pipeline::EventHandler;
use parry::query::ContactManifoldsWorkspace;
use super::CollisionEvent;
bitflags::bitflags! {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Flags affecting the behavior of the constraints solver for a given contact manifold.
@@ -46,6 +49,45 @@ impl Default for ContactData {
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug)]
/// The description of all the contacts between a pair of colliders.
pub struct IntersectionPair {
/// Are the colliders intersecting?
pub intersecting: bool,
/// Was a `CollisionEvent::Started` emitted for this collider?
pub(crate) start_event_emited: bool,
}
impl IntersectionPair {
pub(crate) fn new() -> Self {
Self {
intersecting: false,
start_event_emited: false,
}
}
pub(crate) fn emit_start_event(
&mut self,
collider1: ColliderHandle,
collider2: ColliderHandle,
events: &dyn EventHandler,
) {
self.start_event_emited = true;
events.handle_collision_event(CollisionEvent::new(collider1, collider2, true), None);
}
pub(crate) fn emit_stop_event(
&mut self,
collider1: ColliderHandle,
collider2: ColliderHandle,
events: &dyn EventHandler,
) {
self.start_event_emited = false;
events.handle_collision_event(CollisionEvent::new(collider1, collider2, false), None);
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
/// The description of all the contacts between a pair of colliders.
@@ -60,6 +102,8 @@ pub struct ContactPair {
pub manifolds: Vec<ContactManifold>,
/// Is there any active contact in this contact pair?
pub has_any_active_contact: bool,
/// Was a `CollisionEvent::Started` emitted for this collider?
pub(crate) start_event_emited: bool,
pub(crate) workspace: Option<ContactManifoldsWorkspace>,
}
@@ -70,6 +114,7 @@ impl ContactPair {
collider2,
has_any_active_contact: false,
manifolds: Vec::new(),
start_event_emited: false,
workspace: None,
}
}
@@ -109,6 +154,24 @@ impl ContactPair {
deepest
}
pub(crate) fn emit_start_event(&mut self, events: &dyn EventHandler) {
self.start_event_emited = true;
events.handle_collision_event(
CollisionEvent::new(self.collider1, self.collider2, true),
Some(self),
);
}
pub(crate) fn emit_stop_event(&mut self, events: &dyn EventHandler) {
self.start_event_emited = false;
events.handle_collision_event(
CollisionEvent::new(self.collider1, self.collider2, false),
Some(self),
);
}
}
#[derive(Clone, Debug)]

22
src/geometry/mod.rs
View File

@@ -2,8 +2,9 @@
pub use self::broad_phase_multi_sap::{BroadPhase, BroadPhasePairEvent, ColliderPair};
pub use self::collider_components::*;
pub use self::contact_pair::{ContactData, ContactManifoldData};
pub use self::contact_pair::{ContactPair, SolverContact, SolverFlags};
pub use self::contact_pair::{
ContactData, ContactManifoldData, ContactPair, IntersectionPair, SolverContact, SolverFlags,
};
pub use self::interaction_graph::{
ColliderGraphIndex, InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex,
};
@@ -56,8 +57,11 @@ pub use parry::shape::SharedShape;
pub enum CollisionEvent {
/// Event occurring when two colliders start being in contact (or intersecting)
Started(ColliderHandle, ColliderHandle),
/// Event occurring when two colliders stop being in contact (or intersecting)
Stopped(ColliderHandle, ColliderHandle),
/// Event occurring when two colliders stop being in contact (or intersecting).
///
/// The boolean is set to `true` of this event originates from at least one of
/// the colliders being removed from the `ColliderSet`.
Stopped(ColliderHandle, ColliderHandle, bool),
}
impl CollisionEvent {
@@ -65,31 +69,31 @@ impl CollisionEvent {
if start {
Self::Started(h1, h2)
} else {
Self::Stopped(h1, h2)
Self::Stopped(h1, h2, false)
}
}
/// Is this a `Started` collision event?
pub fn started(self) -> bool {
matches!(self, CollisionEvent::Started(_, _))
matches!(self, CollisionEvent::Started(..))
}
/// Is this a `Stopped` collision event?
pub fn stopped(self) -> bool {
matches!(self, CollisionEvent::Stopped(_, _))
matches!(self, CollisionEvent::Stopped(..))
}
/// The handle of the first collider involved in this collision event.
pub fn collider1(self) -> ColliderHandle {
match self {
Self::Started(h, _) | Self::Stopped(h, _) => h,
Self::Started(h, _) | Self::Stopped(h, _, _) => h,
}
}
/// The handle of the second collider involved in this collision event.
pub fn collider2(self) -> ColliderHandle {
match self {
Self::Started(_, h) | Self::Stopped(_, h) => h,
Self::Started(_, h) | Self::Stopped(_, h, _) => h,
}
}
}

105
src/geometry/narrow_phase.rs
View File

@@ -10,7 +10,7 @@ use crate::geometry::{
BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderHandle, ColliderMaterial,
ColliderPair, ColliderParent, ColliderPosition, ColliderShape, ColliderType, CollisionEvent,
ContactData, ContactManifold, ContactManifoldData, ContactPair, InteractionGraph,
SolverContact, SolverFlags,
IntersectionPair, SolverContact, SolverFlags,
};
use crate::math::{Real, Vector};
use crate::pipeline::{
@@ -56,7 +56,7 @@ pub struct NarrowPhase {
)]
query_dispatcher: Arc<dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>>,
contact_graph: InteractionGraph<ColliderHandle, ContactPair>,
intersection_graph: InteractionGraph<ColliderHandle, bool>,
intersection_graph: InteractionGraph<ColliderHandle, IntersectionPair>,
graph_indices: Coarena<ColliderGraphIndices>,
}
@@ -101,7 +101,7 @@ impl NarrowPhase {
}
/// The intersection graph containing all intersection pairs and their intersection information.
pub fn intersection_graph(&self) -> &InteractionGraph<ColliderHandle, bool> {
pub fn intersection_graph(&self) -> &InteractionGraph<ColliderHandle, IntersectionPair> {
&self.intersection_graph
}
@@ -146,7 +146,7 @@ impl NarrowPhase {
.flat_map(move |id| {
self.intersection_graph
.interactions_with(id)
.map(|e| (e.0, e.1, *e.2))
.map(|e| (e.0, e.1, e.2.intersecting))
})
}
@@ -162,7 +162,7 @@ impl NarrowPhase {
.flat_map(move |id| {
self.intersection_graph
.interactions_with(id)
.map(|e| (e.0, e.1, *e.2))
.map(|e| (e.0, e.1, e.2.intersecting))
})
}
@@ -211,7 +211,7 @@ impl NarrowPhase {
let id2 = self.graph_indices.get_unknown_gen(collider2)?;
self.intersection_graph
.interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index)
.map(|c| *c.2)
.map(|c| c.2.intersecting)
}
/// The intersection pair involving two specific colliders.
@@ -227,7 +227,7 @@ impl NarrowPhase {
let id2 = self.graph_indices.get(collider2.0)?;
self.intersection_graph
.interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index)
.map(|c| *c.2)
.map(|c| c.2.intersecting)
}
/// All the contact pairs maintained by this narrow-phase.
@@ -241,7 +241,7 @@ impl NarrowPhase {
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ {
self.intersection_graph
.interactions_with_endpoints()
.map(|e| (e.0, e.1, *e.2))
.map(|e| (e.0, e.1, e.2.intersecting))
}
// #[cfg(feature = "parallel")]
@@ -297,6 +297,7 @@ impl NarrowPhase {
bodies,
&mut prox_id_remap,
&mut contact_id_remap,
events,
);
}
}
@@ -308,20 +309,21 @@ impl NarrowPhase {
&mut self,
intersection_graph_id: ColliderGraphIndex,
contact_graph_id: ColliderGraphIndex,
islands: Option<&mut IslandManager>,
mut islands: Option<&mut IslandManager>,
colliders: &mut Colliders,
bodies: &mut Bodies,
prox_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
contact_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
events: &dyn EventHandler,
) where
Bodies: ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>,
Colliders: ComponentSetOption<ColliderParent>,
{
// Wake up every body in contact with the deleted collider.
if let Some(islands) = islands {
for (a, b, _) in self.contact_graph.interactions_with(contact_graph_id) {
// Wake up every body in contact with the deleted collider and generate Stopped collision events.
if let Some(islands) = islands.as_deref_mut() {
for (a, b, pair) in self.contact_graph.interactions_with(contact_graph_id) {
if let Some(parent) = colliders.get(a.0).map(|c| c.handle) {
islands.wake_up(bodies, parent, true)
}
@@ -329,6 +331,24 @@ impl NarrowPhase {
if let Some(parent) = colliders.get(b.0).map(|c| c.handle) {
islands.wake_up(bodies, parent, true)
}
if pair.start_event_emited {
events.handle_collision_event(CollisionEvent::Stopped(a, b, true), Some(pair));
}
}
} else {
// If there is no island, don’t wake-up bodies, but do send the Stopped collision event.
for (a, b, pair) in self.contact_graph.interactions_with(contact_graph_id) {
if pair.start_event_emited {
events.handle_collision_event(CollisionEvent::Stopped(a, b, true), Some(pair));
}
}
}
// Generate Stopped collision events for intersections.
for (a, b, pair) in self.intersection_graph.interactions_with(contact_graph_id) {
if pair.start_event_emited {
events.handle_collision_event(CollisionEvent::Stopped(a, b, true), None);
}
}
@@ -506,21 +526,21 @@ impl NarrowPhase {
|| (mode == PairRemovalMode::Auto
&& (co_type1.is_sensor() || co_type2.is_sensor()))
{
let was_intersecting = self
let intersection = self
.intersection_graph
.remove_edge(gid1.intersection_graph_index, gid2.intersection_graph_index);
// Emit an intersection lost event if we had an intersection before removing the edge.
if Some(true) == was_intersecting {
let co_flag1: &ColliderFlags = colliders.index(pair.collider1.0);
let co_flag2: &ColliderFlags = colliders.index(pair.collider2.0);
if let Some(mut intersection) = intersection {
if intersection.intersecting {
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::COLLISION_EVENTS)
{
let prox_event =
CollisionEvent::Stopped(pair.collider1, pair.collider2);
events.handle_intersection_event(prox_event)
if (co_flag1.active_events | co_flag2.active_events)
.contains(ActiveEvents::COLLISION_EVENTS)
{
intersection.emit_stop_event(pair.collider1, pair.collider2, events)
}
}
}
} else {
@@ -530,7 +550,7 @@ impl NarrowPhase {
// Emit a contact stopped event if we had a contact before removing the edge.
// Also wake up the dynamic bodies that were in contact.
if let Some(ctct) = contact_pair {
if let Some(mut ctct) = contact_pair {
if ctct.has_any_active_contact {
let co_parent1: Option<&ColliderParent> =
colliders.get(pair.collider1.0);
@@ -553,10 +573,7 @@ impl NarrowPhase {
if (co_flag1.active_events | co_flag2.active_events)
.contains(ActiveEvents::COLLISION_EVENTS)
{
events.handle_contact_event(
CollisionEvent::Stopped(pair.collider1, pair.collider2),
&ctct,
)
ctct.emit_stop_event(events);
}
}
}
@@ -615,7 +632,7 @@ impl NarrowPhase {
let _ = self.intersection_graph.add_edge(
gid1.intersection_graph_index,
gid2.intersection_graph_index,
false,
IntersectionPair::new(),
);
}
} else {
@@ -712,7 +729,7 @@ impl NarrowPhase {
par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| {
let handle1 = nodes[edge.source().index()].weight;
let handle2 = nodes[edge.target().index()].weight;
let had_intersection = edge.weight;
let had_intersection = edge.weight.intersecting;
// TODO: remove the `loop` once labels on blocks is stabilized.
'emit_events: loop {
@@ -755,13 +772,13 @@ impl NarrowPhase {
if !co_flags1.active_collision_types.test(rb_type1, rb_type2)
&& !co_flags2.active_collision_types.test(rb_type1, rb_type2)
{
edge.weight = false;
edge.weight.intersecting = false;
break 'emit_events;
}
// Filter based on collision groups.
if !co_flags1.collision_groups.test(co_flags2.collision_groups) {
edge.weight = false;
edge.weight.intersecting = false;
break 'emit_events;
}
@@ -779,13 +796,13 @@ impl NarrowPhase {
if !hooks.filter_intersection_pair(&context) {
// No intersection allowed.
edge.weight = false;
edge.weight.intersecting = false;
break 'emit_events;
}
}
let pos12 = co_pos1.inv_mul(co_pos2);
edge.weight = query_dispatcher
edge.weight.intersecting = query_dispatcher
.intersection_test(&pos12, &**co_shape1, &**co_shape2)
.unwrap_or(false);
break 'emit_events;
@@ -796,13 +813,13 @@ impl NarrowPhase {
let active_events = co_flags1.active_events | co_flags2.active_events;
if active_events.contains(ActiveEvents::COLLISION_EVENTS)
&& had_intersection != edge.weight
&& had_intersection != edge.weight.intersecting
{
events.handle_intersection_event(CollisionEvent::new(
handle1,
handle2,
edge.weight,
));
if edge.weight.intersecting {
edge.weight.emit_start_event(handle1, handle2, events);
} else {
edge.weight.emit_stop_event(handle1, handle2, events);
}
}
});
}
@@ -1029,15 +1046,9 @@ impl NarrowPhase {
if pair.has_any_active_contact != had_any_active_contact {
if active_events.contains(ActiveEvents::COLLISION_EVENTS) {
if pair.has_any_active_contact {
events.handle_contact_event(
CollisionEvent::Started(pair.collider1, pair.collider2),
pair,
);
pair.emit_start_event(events);
} else {
events.handle_contact_event(
CollisionEvent::Stopped(pair.collider1, pair.collider2),
pair,
);
pair.emit_stop_event(events);
}
}
}

22
src/pipeline/event_handler.rs
View File

@@ -23,18 +23,18 @@ impl Default for ActiveEvents {
pub trait EventHandler: Send + Sync {
/// Handle a collision event.
///
/// A intersection event is emitted when the state of intersection between two colliders changes.
fn handle_intersection_event(&self, event: CollisionEvent);
/// Handle a contact event.
/// A collision event is emitted when the state of intersection between two colliders changes.
///
/// A contact event is emitted when two collider start or stop touching, independently from the
/// number of contact points involved.
fn handle_contact_event(&self, event: CollisionEvent, contact_pair: &ContactPair);
/// # Parameters
/// * `event` - The collision event.
/// * `contact_pair` - The current state of contacts between the two colliders. This is set ot `None`
/// if at least one of the collider is a sensor (in which case no contact information
/// is ever computed).
fn handle_collision_event(&self, event: CollisionEvent, contact_pair: Option<&ContactPair>);
}
impl EventHandler for () {
fn handle_intersection_event(&self, _event: CollisionEvent) {}
fn handle_contact_event(&self, _event: CollisionEvent, _contact_pair: &ContactPair) {}
fn handle_collision_event(&self, _event: CollisionEvent, _contact_pair: Option<&ContactPair>) {}
}
/// A collision event handler that collects events into a crossbeam channel.
@@ -50,11 +50,7 @@ impl ChannelEventCollector {
}
impl EventHandler for ChannelEventCollector {
fn handle_intersection_event(&self, event: CollisionEvent) {
let _ = self.event_sender.send(event);
}
fn handle_contact_event(&self, event: CollisionEvent, _: &ContactPair) {
fn handle_collision_event(&self, event: CollisionEvent, _: Option<&ContactPair>) {
let _ = self.event_sender.send(event);
}
}