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Merge branch 'master' into collider-builder-debug

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This commit is contained in:
Thierry Berger
2024-06-03 15:20:24 +02:00
parent fe336b9b98 856675032e
commit e1ed90603e
116 changed files with 5370 additions and 1613 deletions
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143
src/geometry/collider.rs
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@@ -1,17 +1,20 @@
use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
use crate::geometry::{
ActiveCollisionTypes, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape,
ColliderType, InteractionGroups, SharedShape,
ActiveCollisionTypes, BroadPhaseProxyIndex, ColliderBroadPhaseData, ColliderChanges,
ColliderFlags, ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition,
ColliderShape, ColliderType, InteractionGroups, SharedShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
use crate::parry::transformation::vhacd::VHACDParameters;
use crate::pipeline::{ActiveEvents, ActiveHooks};
use crate::prelude::ColliderEnabled;
use na::Unit;
use parry::bounding_volume::Aabb;
use parry::bounding_volume::{Aabb, BoundingVolume};
use parry::shape::{Shape, TriMeshFlags};
#[cfg(feature = "dim3")]
use crate::geometry::HeightFieldFlags;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
/// A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.
@@ -27,6 +30,7 @@ pub struct Collider {
pub(crate) material: ColliderMaterial,
pub(crate) flags: ColliderFlags,
pub(crate) bf_data: ColliderBroadPhaseData,
contact_skin: Real,
contact_force_event_threshold: Real,
/// User-defined data associated to this collider.
pub user_data: u128,
@@ -50,6 +54,21 @@ impl Collider {
}
}
/// An internal index associated to this collider by the broad-phase algorithm.
pub fn internal_broad_phase_proxy_index(&self) -> BroadPhaseProxyIndex {
self.bf_data.proxy_index
}
/// Sets the internal index associated to this collider by the broad-phase algorithm.
///
/// This must **not** be called, unless you are implementing your own custom broad-phase
/// that require storing an index in the collider struct.
/// Modifying that index outside of a custom broad-phase code will most certainly break
/// the physics engine.
pub fn set_internal_broad_phase_proxy_index(&mut self, id: BroadPhaseProxyIndex) {
self.bf_data.proxy_index = id;
}
/// The rigid body this collider is attached to.
pub fn parent(&self) -> Option<RigidBodyHandle> {
self.parent.map(|parent| parent.handle)
@@ -60,6 +79,55 @@ impl Collider {
self.coll_type.is_sensor()
}
/// Copy all the characteristics from `other` to `self`.
///
/// If you have a mutable reference to a collider `collider: &mut Collider`, attempting to
/// assign it a whole new collider instance, e.g., `*collider = ColliderBuilder::ball(0.5).build()`,
/// will crash due to some internal indices being overwritten. Instead, use
/// `collider.copy_from(&ColliderBuilder::ball(0.5).build())`.
///
/// This method will allow you to set most characteristics of this collider from another
/// collider instance without causing any breakage.
///
/// This method **cannot** be used for reparenting a collider. Therefore, the parent of the
/// `other` (if any), as well as its relative position to that parent will not be copied into
/// `self`.
///
/// The pose of `other` will only copied into `self` if `self` doesn’t have a parent (if it has
/// a parent, its position is directly controlled by the parent rigid-body).
pub fn copy_from(&mut self, other: &Collider) {
// NOTE: we deconstruct the collider struct to be sure we don’t forget to
// add some copies here if we add more field to Collider in the future.
let Collider {
coll_type,
shape,
mprops,
changes: _changes, // Will be set to ALL.
parent: _parent, // This function cannot be used to reparent the collider.
pos,
material,
flags,
bf_data: _bf_data, // Internal ids must not be overwritten.
contact_force_event_threshold,
user_data,
contact_skin,
} = other;
if self.parent.is_none() {
self.pos = *pos;
}
self.coll_type = *coll_type;
self.shape = shape.clone();
self.mprops = mprops.clone();
self.material = *material;
self.contact_force_event_threshold = *contact_force_event_threshold;
self.user_data = *user_data;
self.flags = *flags;
self.changes = ColliderChanges::all();
self.contact_skin = *contact_skin;
}
/// The physics hooks enabled for this collider.
pub fn active_hooks(&self) -> ActiveHooks {
self.flags.active_hooks
@@ -90,6 +158,20 @@ impl Collider {
self.flags.active_collision_types = active_collision_types;
}
/// The contact skin of this collider.
///
/// See the documentation of [`ColliderBuilder::contact_skin`] for details.
pub fn contact_skin(&self) -> Real {
self.contact_skin
}
/// Sets the contact skin of this collider.
///
/// See the documentation of [`ColliderBuilder::contact_skin`] for details.
pub fn set_contact_skin(&mut self, skin_thickness: Real) {
self.contact_skin = skin_thickness;
}
/// The friction coefficient of this collider.
pub fn friction(&self) -> Real {
self.material.friction
@@ -224,7 +306,7 @@ impl Collider {
}
}
/// Sets the rotational part of this collider's rotaiton relative to its parent rigid-body.
/// Sets the rotational part of this collider's rotation relative to its parent rigid-body.
pub fn set_rotation_wrt_parent(&mut self, rotation: AngVector<Real>) {
if let Some(parent) = self.parent.as_mut() {
self.changes.insert(ColliderChanges::PARENT);
@@ -372,10 +454,21 @@ impl Collider {
}
/// Compute the axis-aligned bounding box of this collider.
///
/// This AABB doesn’t take into account the collider’s contact skin.
/// [`Collider::contact_skin`].
pub fn compute_aabb(&self) -> Aabb {
self.shape.compute_aabb(&self.pos)
}
/// Compute the axis-aligned bounding box of this collider, taking into account the
/// [`Collider::contact_skin`] and prediction distance.
pub fn compute_collision_aabb(&self, prediction: Real) -> Aabb {
self.shape
.compute_aabb(&self.pos)
.loosened(self.contact_skin + prediction)
}
/// Compute the axis-aligned bounding box of this collider moving from its current position
/// to the given `next_position`
pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> Aabb {
@@ -430,6 +523,8 @@ pub struct ColliderBuilder {
pub enabled: bool,
/// The total force magnitude beyond which a contact force event can be emitted.
pub contact_force_event_threshold: Real,
/// An extra thickness around the collider shape to keep them further apart when colliding.
pub contact_skin: Real,
}
impl ColliderBuilder {
@@ -452,6 +547,7 @@ impl ColliderBuilder {
active_events: ActiveEvents::empty(),
enabled: true,
contact_force_event_threshold: 0.0,
contact_skin: 0.0,
}
}
@@ -518,6 +614,15 @@ impl ColliderBuilder {
Self::new(SharedShape::round_cuboid(hx, hy, border_radius))
}
/// Initialize a new collider builder with a capsule defined from its endpoints.
///
/// See also [`ColliderBuilder::capsule_x`], [`ColliderBuilder::capsule_y`], and
/// [`ColliderBuilder::capsule_z`], for a simpler way to build capsules with common
/// orientations.
pub fn capsule_from_endpoints(a: Point<Real>, b: Point<Real>, radius: Real) -> Self {
Self::new(SharedShape::capsule(a, b, radius))
}
/// Initialize a new collider builder with a capsule shape aligned with the `x` axis.
pub fn capsule_x(half_height: Real, radius: Real) -> Self {
Self::new(SharedShape::capsule_x(half_height, radius))
@@ -698,6 +803,17 @@ impl ColliderBuilder {
Self::new(SharedShape::heightfield(heights, scale))
}
/// Initializes a collider builder with a heightfield shape defined by its set of height and a scale
/// factor along each coordinate axis.
#[cfg(feature = "dim3")]
pub fn heightfield_with_flags(
heights: na::DMatrix<Real>,
scale: Vector<Real>,
flags: HeightFieldFlags,
) -> Self {
Self::new(SharedShape::heightfield_with_flags(heights, scale, flags))
}
/// The default friction coefficient used by the collider builder.
pub fn default_friction() -> Real {
0.5
@@ -705,7 +821,7 @@ impl ColliderBuilder {
/// The default density used by the collider builder.
pub fn default_density() -> Real {
1.0
100.0
}
/// Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder.
@@ -861,6 +977,20 @@ impl ColliderBuilder {
self
}
/// Sets the contact skin of the collider.
///
/// The contact skin acts as if the collider was enlarged with a skin of width `skin_thickness`
/// around it, keeping objects further apart when colliding.
///
/// A non-zero contact skin can increase performance, and in some cases, stability. However
/// it creates a small gap between colliding object (equal to the sum of their skin). If the
/// skin is sufficiently small, this might not be visually significant or can be hidden by the
/// rendering assets.
pub fn contact_skin(mut self, skin_thickness: Real) -> Self {
self.contact_skin = skin_thickness;
self
}
/// Enable or disable the collider after its creation.
pub fn enabled(mut self, enabled: bool) -> Self {
self.enabled = enabled;
@@ -908,6 +1038,7 @@ impl ColliderBuilder {
flags,
coll_type,
contact_force_event_threshold: self.contact_force_event_threshold,
contact_skin: self.contact_skin,
user_data: self.user_data,
}
}