Merge pull request #54 from dimforge/idiomatic_clone

Allow cloning all the physics components worth cloning

src/data/graph.rs

@@ -749,20 +749,12 @@ impl<N, E> IndexMut<EdgeIndex> for Graph<N, E> {
 /// The walker does not borrow from the graph, so it lets you step through
 /// neighbors or incident edges while also mutating graph weights, as
 /// in the following example:
+#[derive(Clone)]
 pub struct WalkNeighbors {
     skip_start: NodeIndex,
     next: [EdgeIndex; 2],
 }
 
-impl Clone for WalkNeighbors {
-    fn clone(&self) -> Self {
-        WalkNeighbors {
-            skip_start: self.skip_start,
-            next: self.next,
-        }
-    }
-}
-
 /// Reference to a `Graph` edge.
 #[derive(Debug)]
 pub struct EdgeReference<'a, E: 'a> {

src/data/maybe_serializable_data.rs

@@ -9,6 +9,9 @@ pub trait MaybeSerializableData: DowncastSync {
     fn as_serialize(&self) -> Option<(u32, &dyn Serialize)> {
         None
     }
+
+    /// Clones `self`.
+    fn clone_dyn(&self) -> Box<dyn MaybeSerializableData>;
 }
 
 impl_downcast!(sync MaybeSerializableData);

src/data/pubsub.rs

@@ -5,6 +5,7 @@ use std::marker::PhantomData;
 
 /// A permanent subscription to a pub-sub queue.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct Subscription<T> {
     // Position on the cursor array.
     id: u32,
@@ -12,6 +13,7 @@ pub struct Subscription<T> {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct PubSubCursor {
     // Position on the offset array.
     id: u32,
@@ -36,6 +38,7 @@ impl PubSubCursor {
 
 /// A pub-sub queue.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct PubSub<T> {
     deleted_messages: u32,
     deleted_offsets: u32,

src/dynamics/joint/joint.rs

@@ -95,6 +95,7 @@ impl From<PrismaticJoint> for JointParams {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// A joint attached to two bodies.
 pub struct Joint {
     /// Handle to the first body attached to this joint.

src/dynamics/rigid_body.rs

@@ -27,7 +27,7 @@ pub enum BodyStatus {
 /// A rigid body.
 ///
 /// To create a new rigid-body, use the `RigidBodyBuilder` structure.
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct RigidBody {
     /// The world-space position of the rigid-body.
     pub position: Isometry<f32>,
@@ -58,20 +58,6 @@ pub struct RigidBody {
     pub user_data: u128,
 }
 
-impl Clone for RigidBody {
-    fn clone(&self) -> Self {
-        Self {
-            colliders: Vec::new(),
-            joint_graph_index: RigidBodyGraphIndex::new(crate::INVALID_U32),
-            active_island_id: crate::INVALID_USIZE,
-            active_set_id: crate::INVALID_USIZE,
-            active_set_offset: crate::INVALID_USIZE,
-            active_set_timestamp: crate::INVALID_U32,
-            ..*self
-        }
-    }
-}
-
 impl RigidBody {
     fn new() -> Self {
         Self {
@@ -96,6 +82,15 @@ impl RigidBody {
         }
     }
 
+    pub(crate) fn reset_internal_references(&mut self) {
+        self.colliders = Vec::new();
+        self.joint_graph_index = InteractionGraph::<()>::invalid_graph_index();
+        self.active_island_id = 0;
+        self.active_set_id = 0;
+        self.active_set_offset = 0;
+        self.active_set_timestamp = 0;
+    }
+
     pub(crate) fn integrate_accelerations(&mut self, dt: f32, gravity: Vector<f32>) {
         if self.mass_properties.inv_mass != 0.0 {
             self.linvel += (gravity + self.linacc) * dt;

src/dynamics/rigid_body_set.rs

@@ -75,6 +75,7 @@ impl BodyPair {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// A set of rigid bodies that can be handled by a physics pipeline.
 pub struct RigidBodySet {
     // NOTE: the pub(crate) are needed by the broad phase
@@ -154,7 +155,11 @@ impl RigidBodySet {
     }
 
     /// Insert a rigid body into this set and retrieve its handle.
-    pub fn insert(&mut self, rb: RigidBody) -> RigidBodyHandle {
+    pub fn insert(&mut self, mut rb: RigidBody) -> RigidBodyHandle {
+        // Make sure the internal links are reset, they may not be
+        // if this rigid-body was obtained by cloning another one.
+        rb.reset_internal_references();
+
         let handle = self.bodies.insert(rb);
         let rb = &mut self.bodies[handle];
 

src/geometry/broad_phase_multi_sap.rs

@@ -132,6 +132,7 @@ impl Endpoint {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct SAPAxis {
     min_bound: f32,
     max_bound: f32,
@@ -331,6 +332,7 @@ impl SAPAxis {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct SAPRegion {
     axes: [SAPAxis; DIM],
     existing_proxies: BitVec,
@@ -411,6 +413,7 @@ impl SAPRegion {
 
 /// A broad-phase based on multiple Sweep-and-Prune instances running of disjoint region of the 3D world.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct BroadPhase {
     proxies: Proxies,
     regions: HashMap<Point<i32>, SAPRegion>,
@@ -438,6 +441,7 @@ pub struct BroadPhase {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub(crate) struct BroadPhaseProxy {
     handle: ColliderHandle,
     aabb: AABB<f32>,
@@ -445,6 +449,7 @@ pub(crate) struct BroadPhaseProxy {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct Proxies {
     elements: Vec<BroadPhaseProxy>,
     first_free: u32,

src/geometry/collider.rs

@@ -188,6 +188,7 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
 }
 
 #[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.
 ///
 /// To build a new collider, use the `ColliderBuilder` structure.
@@ -212,20 +213,14 @@ pub struct Collider {
     pub user_data: u128,
 }
 
-impl Clone for Collider {
-    fn clone(&self) -> Self {
-        Self {
-            shape: self.shape.clone(),
-            parent: RigidBodySet::invalid_handle(),
-            contact_graph_index: ColliderGraphIndex::new(crate::INVALID_U32),
-            proximity_graph_index: ColliderGraphIndex::new(crate::INVALID_U32),
-            proxy_index: crate::INVALID_USIZE,
-            ..*self
-        }
-    }
-}
-
 impl Collider {
+    pub(crate) fn reset_internal_references(&mut self) {
+        self.parent = RigidBodySet::invalid_handle();
+        self.contact_graph_index = InteractionGraph::<Contact>::invalid_graph_index();
+        self.proximity_graph_index = InteractionGraph::<Proximity>::invalid_graph_index();
+        self.proxy_index = crate::INVALID_USIZE;
+    }
+
     /// The rigid body this collider is attached to.
     pub fn parent(&self) -> RigidBodyHandle {
         self.parent

src/geometry/collider_set.rs

@@ -17,6 +17,7 @@ pub(crate) struct RemovedCollider {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// A set of colliders that can be handled by a physics `World`.
 pub struct ColliderSet {
     pub(crate) removed_colliders: PubSub<RemovedCollider>,
@@ -59,6 +60,10 @@ impl ColliderSet {
         parent_handle: RigidBodyHandle,
         bodies: &mut RigidBodySet,
     ) -> ColliderHandle {
+        // Make sure the internal links are reset, they may not be
+        // if this rigid-body was obtained by cloning another one.
+        coll.reset_internal_references();
+
         coll.parent = parent_handle;
         let parent = bodies
             .get_mut_internal(parent_handle)

src/geometry/contact.rs

@@ -172,6 +172,7 @@ impl Contact {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// The description of all the contacts between a pair of colliders.
 pub struct ContactPair {
     /// The pair of colliders involved.

src/geometry/contact_generator/contact_generator_workspace.rs

@@ -9,6 +9,12 @@ use crate::geometry::contact_generator::{
 // Note we have this newtype because it simplifies the serialization/deserialization code.
 pub struct ContactGeneratorWorkspace(pub Box<dyn MaybeSerializableData>);
 
+impl Clone for ContactGeneratorWorkspace {
+    fn clone(&self) -> Self {
+        ContactGeneratorWorkspace(self.0.clone_dyn())
+    }
+}
+
 impl<T: MaybeSerializableData> From<T> for ContactGeneratorWorkspace {
     fn from(data: T) -> Self {
         Self(Box::new(data) as Box<dyn MaybeSerializableData>)

src/geometry/contact_generator/heightfield_shape_contact_generator.rs

@@ -12,6 +12,7 @@ use crate::ncollide::bounding_volume::BoundingVolume;
 use erased_serde::Serialize;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct SubDetector {
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     generator: Option<PrimitiveContactGenerator>,
@@ -21,6 +22,7 @@ struct SubDetector {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct HeightFieldShapeContactGeneratorWorkspace {
     timestamp: bool,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
@@ -182,4 +184,8 @@ impl MaybeSerializableData for HeightFieldShapeContactGeneratorWorkspace {
             self,
         ))
     }
+
+    fn clone_dyn(&self) -> Box<dyn MaybeSerializableData> {
+        Box::new(self.clone())
+    }
 }

src/geometry/contact_generator/pfm_pfm_contact_generator.rs

@@ -9,6 +9,7 @@ use ncollide::query;
 use ncollide::query::algorithms::{gjk::GJKResult, VoronoiSimplex};
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct PfmPfmContactManifoldGeneratorWorkspace {
     #[cfg_attr(
         feature = "serde-serialize",
@@ -136,4 +137,8 @@ impl MaybeSerializableData for PfmPfmContactManifoldGeneratorWorkspace {
             self,
         ))
     }
+
+    fn clone_dyn(&self) -> Box<dyn MaybeSerializableData> {
+        Box::new(self.clone())
+    }
 }

src/geometry/contact_generator/trimesh_shape_contact_generator.rs

@@ -8,6 +8,7 @@ use crate::ncollide::bounding_volume::{BoundingVolume, AABB};
 use erased_serde::Serialize;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct TrimeshShapeContactGeneratorWorkspace {
     interferences: Vec<usize>,
     local_aabb2: AABB<f32>,
@@ -213,4 +214,8 @@ impl MaybeSerializableData for TrimeshShapeContactGeneratorWorkspace {
             self,
         ))
     }
+
+    fn clone_dyn(&self) -> Box<dyn MaybeSerializableData> {
+        Box::new(self.clone())
+    }
 }

src/geometry/interaction_graph.rs

@@ -10,6 +10,7 @@ pub type TemporaryInteractionIndex = EdgeIndex;
 
 /// A graph where nodes are collision objects and edges are contact or proximity algorithms.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct InteractionGraph<T> {
     pub(crate) graph: Graph<ColliderHandle, T>,
 }

src/geometry/narrow_phase.rs

@@ -29,6 +29,7 @@ use std::collections::HashMap;
 
 /// The narrow-phase responsible for computing precise contact information between colliders.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct NarrowPhase {
     contact_graph: InteractionGraph<ContactPair>,
     proximity_graph: InteractionGraph<ProximityPair>,

src/geometry/polyhedron_feature3d.rs

@@ -5,7 +5,7 @@ use crate::utils::WBasis;
 use na::Point2;
 use ncollide::shape::Segment;
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct PolyhedronFace {
     pub vertices: [Point<f32>; 4],
     pub vids: [u8; 4], // Feature ID of the vertices.

src/geometry/proximity.rs

@@ -15,6 +15,18 @@ pub struct ProximityPair {
     pub(crate) detector_workspace: Option<Box<dyn Any + Send + Sync>>,
 }
 
+// TODO: use the `derive(Clone)` instead?
+impl Clone for ProximityPair {
+    fn clone(&self) -> Self {
+        ProximityPair {
+            pair: self.pair.clone(),
+            proximity: self.proximity.clone(),
+            detector: None,
+            detector_workspace: None,
+        }
+    }
+}
+
 impl ProximityPair {
     pub(crate) fn new(
         pair: ColliderPair,

src/pipeline/query_pipeline.rs

@@ -5,6 +5,7 @@ use crate::geometry::{
 
 /// A pipeline for performing queries on all the colliders of a scene.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct QueryPipeline {
     quadtree: WQuadtree<ColliderHandle>,
     tree_built: bool,