Allow disabling colliders, rigid-bodies and impulse joints

15 files changed, 409 insertions, 108 deletions

diff --git a/src/control/character_controller.rs b/src/control/character_controller.rs
index ebed952..28ba475 100644
--- a/src/control/character_controller.rs
+++ b/src/control/character_controller.rs
@@ -133,7 +133,7 @@ impl Default for KinematicCharacterController {
 pub struct EffectiveCharacterMovement {
     /// The movement to apply.
     pub translation: Vector<Real>,
-    /// Is the character touching the ground after applying `EffictiveKineamticMovement::translation`?
+    /// Is the character touching the ground after applying `EffectiveKineamticMovement::translation`?
     pub grounded: bool,
 }
 
diff --git a/src/dynamics/island_manager.rs b/src/dynamics/island_manager.rs
index 1295f14..edd2579 100644
--- a/src/dynamics/island_manager.rs
+++ b/src/dynamics/island_manager.rs
@@ -98,7 +98,8 @@ impl IslandManager {
             let rb = bodies.index_mut_internal(handle);
             rb.activation.wake_up(strong);
 
-            if self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle) {
+            if rb.is_enabled() && self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle)
+            {
                 rb.ids.active_set_id = self.active_dynamic_set.len();
                 self.active_dynamic_set.push(handle);
             }
@@ -256,12 +257,12 @@ 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.attached_joints(handle) {
+            for inter in impulse_joints.attached_enabled_joints(handle) {
                 let other = crate::utils::select_other((inter.0, inter.1), handle);
                 self.stack.push(other);
             }
 
-            for other in multibody_joints.attached_bodies(handle) {
+            for other in multibody_joints.bodies_attached_with_enabled_joint(handle) {
                 self.stack.push(other);
             }
 
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index bb1598d..4f0a791 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -5,6 +5,7 @@ use crate::utils::{WBasis, WReal};
 
 #[cfg(feature = "dim3")]
 use crate::dynamics::SphericalJoint;
+use crate::geometry::ColliderEnabled;
 
 #[cfg(feature = "dim3")]
 bitflags::bitflags! {
@@ -182,6 +183,19 @@ impl JointMotor {
     }
 }
 
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+/// Enum indicating whether or not a joint is enabled.
+pub enum JointEnabled {
+    /// The joint is enabled.
+    Enabled,
+    /// The joint wasn’t disabled by the user explicitly but it is attached to
+    /// a disabled rigid-body.
+    DisabledByAttachedBody,
+    /// The joint is disabled by the user explicitly.
+    Disabled,
+}
+
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq)]
 /// A generic joint.
@@ -208,6 +222,8 @@ pub struct GenericJoint {
     pub motors: [JointMotor; SPATIAL_DIM],
     /// Are contacts between the attached rigid-bodies enabled?
     pub contacts_enabled: bool,
+    /// Whether or not the joint is enabled.
+    pub enabled: JointEnabled,
 }
 
 impl Default for GenericJoint {
@@ -222,6 +238,7 @@ impl Default for GenericJoint {
             limits: [JointLimits::default(); SPATIAL_DIM],
             motors: [JointMotor::default(); SPATIAL_DIM],
             contacts_enabled: true,
+            enabled: JointEnabled::Enabled,
         }
     }
 }
@@ -260,6 +277,27 @@ impl GenericJoint {
         }
     }
 
+    /// Is this joint enabled?
+    pub fn is_enabled(&self) -> bool {
+        self.enabled == JointEnabled::Enabled
+    }
+
+    /// Set whether this joint is enabled or not.
+    pub fn set_enabled(&mut self, enabled: bool) {
+        match self.enabled {
+            JointEnabled::Enabled | JointEnabled::DisabledByAttachedBody => {
+                if !enabled {
+                    self.enabled = JointEnabled::Disabled;
+                }
+            }
+            JointEnabled::Disabled => {
+                if enabled {
+                    self.enabled = JointEnabled::Enabled;
+                }
+            }
+        }
+    }
+
     /// Add the specified axes to the set of axes locked by this joint.
     pub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut Self {
         self.locked_axes |= axes;
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
index 7409172..f21f950 100644
--- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
+++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
@@ -72,11 +72,11 @@ impl ImpulseJointSet {
     }
 
     /// Iterates through all the joints between two rigid-bodies.
-    pub fn joints_between<'a>(
-        &'a self,
+    pub fn joints_between(
+        &self,
         body1: RigidBodyHandle,
         body2: RigidBodyHandle,
-    ) -> impl Iterator<Item = (ImpulseJointHandle, &'a ImpulseJoint)> {
+    ) -> impl Iterator<Item = (ImpulseJointHandle, &ImpulseJoint)> {
         self.rb_graph_ids
             .get(body1.0)
             .zip(self.rb_graph_ids.get(body2.0))
@@ -86,15 +86,15 @@ impl ImpulseJointSet {
     }
 
     /// Iterates through all the impulse joints attached to the given rigid-body.
-    pub fn attached_joints<'a>(
-        &'a self,
+    pub fn attached_joints(
+        &self,
         body: RigidBodyHandle,
     ) -> impl Iterator<
         Item = (
             RigidBodyHandle,
             RigidBodyHandle,
             ImpulseJointHandle,
-            &'a ImpulseJoint,
+            &ImpulseJoint,
         ),
     > {
         self.rb_graph_ids
@@ -104,6 +104,35 @@ impl ImpulseJointSet {
             .map(|inter| (inter.0, inter.1, inter.2.handle, inter.2))
     }
 
+    /// Iterates through all the impulse joints attached to the given rigid-body.
+    pub fn map_attached_joints_mut<'a>(
+        &'a mut self,
+        body: RigidBodyHandle,
+        mut f: impl FnMut(RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &mut ImpulseJoint),
+    ) {
+        self.rb_graph_ids.get(body.0).into_iter().for_each(|id| {
+            for inter in self.joint_graph.interactions_with_mut(*id) {
+                (f)(inter.0, inter.1, inter.3.handle, inter.3)
+            }
+        })
+    }
+
+    /// Iterates through all the enabled impulse joints attached to the given rigid-body.
+    pub fn attached_enabled_joints(
+        &self,
+        body: RigidBodyHandle,
+    ) -> impl Iterator<
+        Item = (
+            RigidBodyHandle,
+            RigidBodyHandle,
+            ImpulseJointHandle,
+            &ImpulseJoint,
+        ),
+    > {
+        self.attached_joints(body)
+            .filter(|inter| inter.3.data.is_enabled())
+    }
+
     /// Is the given joint handle valid?
     pub fn contains(&self, handle: ImpulseJointHandle) -> bool {
         self.joint_ids.contains(handle.0)
@@ -246,7 +275,7 @@ impl ImpulseJointSet {
         ImpulseJointHandle(handle)
     }
 
-    /// Retrieve all the impulse_joints happening between two active bodies.
+    /// Retrieve all the enabled impulse joints happening between two active bodies.
     // NOTE: this is very similar to the code from NarrowPhase::select_active_interactions.
     pub(crate) fn select_active_interactions(
         &self,
@@ -264,7 +293,8 @@ impl ImpulseJointSet {
             let rb1 = &bodies[joint.body1];
             let rb2 = &bodies[joint.body2];
 
-            if (rb1.is_dynamic() || rb2.is_dynamic())
+            if joint.data.is_enabled()
+                && (rb1.is_dynamic() || rb2.is_dynamic())
                 && (!rb1.is_dynamic() || !rb1.is_sleeping())
                 && (!rb2.is_dynamic() || !rb2.is_sleeping())
             {
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
index c25de73..a4b338a 100644
--- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
@@ -372,7 +372,7 @@ impl MultibodyJointSet {
     }
 
     /// Iterate through the handles of all the rigid-bodies attached to this rigid-body
-    /// by an multibody_joint.
+    /// by a multibody_joint.
     pub fn attached_bodies<'a>(
         &'a self,
         body: RigidBodyHandle,
@@ -384,6 +384,21 @@ impl MultibodyJointSet {
             .map(move |inter| crate::utils::select_other((inter.0, inter.1), body))
     }
 
+    /// Iterate through the handles of all the rigid-bodies attached to this rigid-body
+    /// by an enabled multibody_joint.
+    pub fn bodies_attached_with_enabled_joint<'a>(
+        &'a self,
+        body: RigidBodyHandle,
+    ) -> impl Iterator<Item = RigidBodyHandle> + 'a {
+        self.attached_bodies(body).filter(move |other| {
+            if let Some((_, _, link)) = self.joint_between(body, *other) {
+                link.joint.data.is_enabled()
+            } else {
+                false
+            }
+        })
+    }
+
     /// Iterates through all the multibodies on this set.
     pub fn multibodies(&self) -> impl Iterator<Item = &Multibody> {
         self.multibodies.iter().map(|e| e.1)
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 9c38eee..a6384b7 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -35,6 +35,7 @@ pub struct RigidBody {
     pub(crate) body_type: RigidBodyType,
     /// The dominance group this rigid-body is part of.
     pub(crate) dominance: RigidBodyDominance,
+    pub(crate) enabled: bool,
     /// User-defined data associated to this rigid-body.
     pub user_data: u128,
 }
@@ -61,6 +62,7 @@ impl RigidBody {
             changes: RigidBodyChanges::all(),
             body_type: RigidBodyType::Dynamic,
             dominance: RigidBodyDominance::default(),
+            enabled: true,
             user_data: 0,
         }
     }
@@ -81,6 +83,28 @@ impl RigidBody {
         &mut self.activation
     }
 
+    /// Is this rigid-body enabled?
+    pub fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+
+    /// Sets whether this rigid-body is enabled or not.
+    pub fn set_enabled(&mut self, enabled: bool) {
+        if enabled != self.enabled {
+            if enabled {
+                // NOTE: this is probably overkill, but it makes sure we don’t
+                // forget anything that needs to be updated because the rigid-body
+                // was basically interpreted as if it was removed while it was
+                // disabled.
+                self.changes = RigidBodyChanges::all();
+            } else {
+                self.changes |= RigidBodyChanges::ENABLED_OR_DISABLED;
+            }
+
+            self.enabled = enabled;
+        }
+    }
+
     /// The linear damping coefficient of this rigid-body.
     #[inline]
     pub fn linear_damping(&self) -> Real {
@@ -963,6 +987,8 @@ pub struct RigidBodyBuilder {
     pub ccd_enabled: bool,
     /// The dominance group of the rigid-body to be built.
     pub dominance_group: i8,
+    /// Will the rigid-body being built be enabled?
+    pub enabled: bool,
     /// An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.
     pub user_data: u128,
 }
@@ -984,6 +1010,7 @@ impl RigidBodyBuilder {
             sleeping: false,
             ccd_enabled: false,
             dominance_group: 0,
+            enabled: true,
             user_data: 0,
         }
     }
@@ -1230,6 +1257,12 @@ impl RigidBodyBuilder {
         self
     }
 
+    /// Enable or disable the rigid-body after its creation.
+    pub fn enabled(mut self, enabled: bool) -> Self {
+        self.enabled = enabled;
+        self
+    }
+
     /// Build a new rigid-body with the parameters configured with this builder.
     pub fn build(&self) -> RigidBody {
         let mut rb = RigidBody::new();
@@ -1252,6 +1285,7 @@ impl RigidBodyBuilder {
         rb.damping.angular_damping = self.angular_damping;
         rb.forces.gravity_scale = self.gravity_scale;
         rb.dominance = RigidBodyDominance(self.dominance_group);
+        rb.enabled = self.enabled;
         rb.enable_ccd(self.ccd_enabled);
 
         if self.can_sleep && self.sleeping {
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index cabf6ca..eb94c6b 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -112,6 +112,8 @@ bitflags::bitflags! {
         const DOMINANCE   = 1 << 5;
         /// Flag indicating that the local mass-properties of this rigid-body must be recomputed.
         const LOCAL_MASS_PROPERTIES = 1 << 6;
+        /// Flag indicating that the rigid-body was enabled or disabled.
+        const ENABLED_OR_DISABLED = 1 << 7;
     }
 }
 
@@ -329,12 +331,14 @@ impl RigidBodyMassProps {
 
         for handle in &attached_colliders.0 {
             if let Some(co) = colliders.get(*handle) {
-                if let Some(co_parent) = co.parent {
-                    let to_add = co
-                        .mprops
-                        .mass_properties(&*co.shape)
-                        .transform_by(&co_parent.pos_wrt_parent);
-                    self.local_mprops += to_add;
+                if co.is_enabled() {
+                    if let Some(co_parent) = co.parent {
+                        let to_add = co
+                            .mprops
+                            .mass_properties(&*co.shape)
+                            .transform_by(&co_parent.pos_wrt_parent);
+                        self.local_mprops += to_add;
+                    }
                 }
             }
         }
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs
index 915017d..0667184 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs
@@ -176,7 +176,11 @@ impl BroadPhase {
     /// This method will actually remove from the proxy list all the proxies
     /// marked as deletable by `self.predelete_proxy`, making their proxy
     /// handles re-usable by new proxies.
-    fn complete_removals(&mut self, removed_colliders: &[ColliderHandle]) {
+    fn complete_removals(
+        &mut self,
+        colliders: &mut ColliderSet,
+        removed_colliders: &[ColliderHandle],
+    ) {
         // If there is no layer, there is nothing to remove.
         if self.layers.is_empty() {
             return;
@@ -224,6 +228,11 @@ impl BroadPhase {
                     self.proxies.remove(proxy_id);
                 }
             }
+
+            if let Some(co) = colliders.get_mut_internal(*removed) {
+                // Reset the proxy index.
+                co.bf_data.proxy_index = crate::INVALID_U32;
+            }
         }
     }
 
@@ -460,9 +469,10 @@ impl BroadPhase {
             // NOTE: we use `get` because the collider may no longer
             //       exist if it has been removed.
             if let Some(co) = colliders.get_mut_internal(*handle) {
-                if !co.changes.needs_broad_phase_update() {
+                if !co.is_enabled() || !co.changes.needs_broad_phase_update() {
                     continue;
                 }
+
                 let mut new_proxy_id = co.bf_data.proxy_index;
 
                 if self.handle_modified_collider(
@@ -496,7 +506,7 @@ impl BroadPhase {
 
         // Phase 5: bottom-up pass to remove proxies, and propagate region removed from smaller
         // layers to possible remove regions from larger layers that would become empty that way.
-        self.complete_removals(removed_colliders);
+        self.complete_removals(colliders, removed_colliders);
     }
 
     /// Propagate regions from the smallest layers up to the larger layers.
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 95ae273..6759b81 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -7,6 +7,7 @@ use crate::geometry::{
 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::shape::{Shape, TriMeshFlags};
@@ -154,6 +155,32 @@ impl Collider {
         }
     }
 
+    /// Is this collider enabled?
+    pub fn is_enabled(&self) -> bool {
+        match self.flags.enabled {
+            ColliderEnabled::Enabled => true,
+            _ => false,
+        }
+    }
+
+    /// Sets whether or not this collider is enabled.
+    pub fn set_enabled(&mut self, enabled: bool) {
+        match self.flags.enabled {
+            ColliderEnabled::Enabled | ColliderEnabled::DisabledByParent => {
+                if !enabled {
+                    self.changes.insert(ColliderChanges::ENABLED_OR_DISABLED);
+                    self.flags.enabled = ColliderEnabled::Disabled;
+                }
+            }
+            ColliderEnabled::Disabled => {
+                if enabled {
+                    self.changes.insert(ColliderChanges::ENABLED_OR_DISABLED);
+                    self.flags.enabled = ColliderEnabled::Enabled;
+                }
+            }
+        }
+    }
+
     /// Sets the translational part of this collider's position.
     pub fn set_translation(&mut self, translation: Vector<Real>) {
         self.changes.insert(ColliderChanges::POSITION);
@@ -402,6 +429,8 @@ pub struct ColliderBuilder {
     pub collision_groups: InteractionGroups,
     /// The solver groups for the collider being built.
     pub solver_groups: InteractionGroups,
+    /// Will the collider being built be enabled?
+    pub enabled: bool,
     /// The total force magnitude beyond which a contact force event can be emitted.
     pub contact_force_event_threshold: Real,
 }
@@ -424,6 +453,7 @@ impl ColliderBuilder {
             active_collision_types: ActiveCollisionTypes::default(),
             active_hooks: ActiveHooks::empty(),
             active_events: ActiveEvents::empty(),
+            enabled: true,
             contact_force_event_threshold: 0.0,
         }
     }
@@ -834,6 +864,12 @@ impl ColliderBuilder {
         self
     }
 
+    /// Enable or disable the collider after its creation.
+    pub fn enabled(mut self, enabled: bool) -> Self {
+        self.enabled = enabled;
+        self
+    }
+
     /// Builds a new collider attached to the given rigid-body.
     pub fn build(&self) -> Collider {
         let shape = self.shape.clone();
@@ -849,6 +885,11 @@ impl ColliderBuilder {
             active_collision_types: self.active_collision_types,
             active_hooks: self.active_hooks,
             active_events: self.active_events,
+            enabled: if self.enabled {
+                ColliderEnabled::Enabled
+            } else {
+                ColliderEnabled::Disabled
+            },
         };
         let changes = ColliderChanges::all();
         let pos = ColliderPosition(self.position);
diff --git a/src/geometry/collider_components.rs b/src/geometry/collider_components.rs
index 29a24b5..0e65bac 100644
--- a/src/geometry/collider_components.rs
+++ b/src/geometry/collider_components.rs
@@ -64,6 +64,8 @@ bitflags::bitflags! {
         /// This flags is automatically set by the `PhysicsPipeline` when the `RigidBodyChanges::DOMINANCE`
         /// or `RigidBodyChanges::TYPE` of the parent rigid-body of this collider is detected.
         const PARENT_EFFECTIVE_DOMINANCE = 1 << 7; // NF update.
+        /// Flag indicating that whether or not the collider is enabled was changed.
+        const ENABLED_OR_DISABLED = 1 << 8; // BF & NF updates.
     }
 }
 
@@ -374,6 +376,19 @@ impl Default for ActiveCollisionTypes {
 
 #[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+/// Enum indicating whether or not a collider is enabled.
+pub enum ColliderEnabled {
+    /// The collider is enabled.
+    Enabled,
+    /// The collider wasn’t disabled by the user explicitly but it is attached to
+    /// a disabled rigid-body.
+    DisabledByParent,
+    /// The collider is disabled by the user explicitly.
+    Disabled,
+}
+
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 /// A set of flags for controlling collision/intersection filtering, modification, and events.
 pub struct ColliderFlags {
     /// Controls whether collision-detection happens between two colliders depending on
@@ -389,6 +404,8 @@ pub struct ColliderFlags {
     pub active_hooks: ActiveHooks,
     /// The events enabled for this collider.
     pub active_events: ActiveEvents,
+    /// Whether or not the collider is enabled.
+    pub enabled: ColliderEnabled,
 }
 
 impl Default for ColliderFlags {
@@ -399,6 +416,7 @@ impl Default for ColliderFlags {
             solver_groups: InteractionGroups::all(),
             active_hooks: ActiveHooks::empty(),
             active_events: ActiveEvents::empty(),
+            enabled: ColliderEnabled::Enabled,
         }
     }
 }
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index b141445..1069f1b 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -41,6 +41,14 @@ impl ColliderSet {
         self.colliders.iter().map(|(h, c)| (ColliderHandle(h), c))
     }
 
+    /// Iterate through all the enabled colliders on this set.
+    pub fn iter_enabled(&self) -> impl Iterator<Item = (ColliderHandle, &Collider)> {
+        self.colliders
+            .iter()
+            .map(|(h, c)| (ColliderHandle(h), c))
+            .filter(|(_, c)| c.is_enabled())
+    }
+
     /// Iterates mutably through all the colliders on this set.
     #[cfg(not(feature = "dev-remove-slow-accessors"))]
     pub fn iter_mut(&mut self) -> impl Iterator<Item = (ColliderHandle, &mut Collider)> {
@@ -52,6 +60,12 @@ impl ColliderSet {
         })
     }
 
+    /// Iterates mutably through all the enabled colliders on this set.
+    #[cfg(not(feature = "dev-remove-slow-accessors"))]
+    pub fn iter_enabled_mut(&mut self) -> impl Iterator<Item = (ColliderHandle, &mut Collider)> {
+        self.iter_mut().filter(|(_, c)| c.is_enabled())
+    }
+
     /// The number of colliders on this set.
     pub fn len(&self) -> usize {
         self.colliders.len()
@@ -268,6 +282,17 @@ impl ColliderSet {
     pub(crate) fn get_mut_internal(&mut self, handle: ColliderHandle) -> Option<&mut Collider> {
         self.colliders.get_mut(handle.0)
     }
+
+    // Just a very long name instead of `.get_mut` to make sure
+    // this is really the method we wanted to use instead of `get_mut_internal`.
+    pub(crate) fn get_mut_internal_with_modification_tracking(
+        &mut self,
+        handle: ColliderHandle,
+    ) -> Option<&mut Collider> {
+        let result = self.colliders.get_mut(handle.0)?;
+        Self::mark_as_modified(handle, result, &mut self.modified_colliders);
+        Some(result)
+    }
 }
 
 impl Index<crate::data::Index> for ColliderSet {
diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs
index ac92a04..631388b 100644
--- a/src/pipeline/collision_pipeline.rs
+++ b/src/pipeline/collision_pipeline.rs
@@ -127,9 +127,20 @@ impl CollisionPipeline {
             None,
             bodies,
             colliders,
+            &mut ImpulseJointSet::new(),
+            &mut MultibodyJointSet::new(),
             &modified_bodies,
             &mut modified_colliders,
         );
+
+        // Disabled colliders are treated as if they were removed.
+        removed_colliders.extend(
+            modified_colliders
+                .iter()
+                .copied()
+                .filter(|h| colliders.get(*h).map(|c| !c.is_enabled()).unwrap_or(false)),
+        );
+
         self.detect_collisions(
             prediction_distance,
             broad_phase,
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 391b39a..f05a3f0 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -422,6 +422,7 @@ impl PhysicsPipeline {
         // Apply modifications.
         let mut modified_colliders = colliders.take_modified();
         let mut removed_colliders = colliders.take_removed();
+
         super::user_changes::handle_user_changes_to_colliders(
             bodies,
             colliders,
@@ -433,10 +434,22 @@ impl PhysicsPipeline {
             Some(islands),
             bodies,
             colliders,
+            impulse_joints,
+            multibody_joints,
             &modified_bodies,
             &mut modified_colliders,
         );
 
+        // Disabled colliders are treated as if they were removed.
+        // NOTE: this must be called here, after handle_user_changes_to_rigid_bodies to take into
+        //       account colliders disabled because of their parent rigid-body.
+        removed_colliders.extend(
+            modified_colliders
+                .iter()
+                .copied()
+                .filter(|h| colliders.get(*h).map(|c| !c.is_enabled()).unwrap_or(false)),
+        );
+
         // TODO: do this only on user-change.
         // TODO: do we want some kind of automatic inverse kinematics?
         for multibody in &mut multibody_joints.multibodies {
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs
index 00825e2..6682370 100644
--- a/src/pipeline/query_pipeline.rs
+++ b/src/pipeline/query_pipeline.rs
@@ -358,12 +358,12 @@ impl QueryPipeline {
             fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
                 match self.mode {
                     QueryPipelineMode::CurrentPosition => {
-                        for (h, co) in self.colliders.iter() {
+                        for (h, co) in self.colliders.iter_enabled() {
                             f(h, co.shape.compute_aabb(&co.pos))
                         }
                     }
                     QueryPipelineMode::SweepTestWithNextPosition => {
-                        for (h, co) in self.colliders.iter() {
+                        for (h, co) in self.colliders.iter_enabled() {
                             if let Some(co_parent) = co.parent {
                                 let rb_next_pos = &self.bodies[co_parent.handle].pos.next_position;
                                 let next_position = rb_next_pos * co_parent.pos_wrt_parent;
@@ -374,7 +374,7 @@ impl QueryPipeline {
                         }
                     }
                     QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
-                        for (h, co) in self.colliders.iter() {
+                        for (h, co) in self.colliders.iter_enabled() {
                             if let Some(co_parent) = co.parent {
                                 let rb = &self.bodies[co_parent.handle];
                                 let predicted_pos = rb.pos.integrate_forces_and_velocities(
diff --git a/src/pipeline/user_changes.rs b/src/pipeline/user_changes.rs
index e7da68a..adfd023 100644
--- a/src/pipeline/user_changes.rs
+++ b/src/pipeline/user_changes.rs
@@ -1,7 +1,10 @@
 use crate::dynamics::{
-    IslandManager, RigidBodyChanges, RigidBodyHandle, RigidBodySet, RigidBodyType,
+    ImpulseJointSet, IslandManager, JointEnabled, MultibodyJointSet, RigidBodyChanges,
+    RigidBodyHandle, RigidBodySet, RigidBodyType,
+};
+use crate::geometry::{
+    ColliderChanges, ColliderEnabled, ColliderHandle, ColliderPosition, ColliderSet,
 };
-use crate::geometry::{ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet};
 
 pub(crate) fn handle_user_changes_to_colliders(
     bodies: &mut RigidBodySet,
@@ -21,10 +24,12 @@ pub(crate) fn handle_user_changes_to_colliders(
                 }
             }
 
-            if co
-                .changes
-                .intersects(ColliderChanges::SHAPE | ColliderChanges::LOCAL_MASS_PROPERTIES)
-            {
+            if co.changes.intersects(
+                ColliderChanges::SHAPE
+                    | ColliderChanges::LOCAL_MASS_PROPERTIES
+                    | ColliderChanges::ENABLED_OR_DISABLED
+                    | ColliderChanges::PARENT,
+            ) {
                 if let Some(rb) = co
                     .parent
                     .and_then(|p| bodies.get_mut_internal_with_modification_tracking(p.handle))
@@ -40,12 +45,15 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
     mut islands: Option<&mut IslandManager>,
     bodies: &mut RigidBodySet,
     colliders: &mut ColliderSet,
+    impulse_joints: &mut ImpulseJointSet,
+    multibody_joints: &mut MultibodyJointSet,
     modified_bodies: &[RigidBodyHandle],
     modified_colliders: &mut Vec<ColliderHandle>,
 ) {
     enum FinalAction {
-        UpdateActiveKinematicSetId,
-        UpdateActiveDynamicSetId,
+        UpdateActiveKinematicSetId(usize),
+        UpdateActiveDynamicSetId(usize),
+        RemoveFromIsland,
     }
 
     for handle in modified_bodies {
@@ -62,89 +70,95 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
         let mut activation = rb.activation;
 
         {
-            // The body's status changed. We need to make sure
-            // it is on the correct active set.
-            if let Some(islands) = islands.as_deref_mut() {
-                if changes.contains(RigidBodyChanges::TYPE) {
-                    match rb.body_type {
-                        RigidBodyType::Dynamic => {
-                            // Remove from the active kinematic set if it was there.
-                            if islands.active_kinematic_set.get(ids.active_set_id) == Some(handle) {
-                                islands.active_kinematic_set.swap_remove(ids.active_set_id);
-                                final_action = Some((
-                                    FinalAction::UpdateActiveKinematicSetId,
-                                    ids.active_set_id,
-                                ));
-                            }
-
-                            // Add to the active dynamic set.
-                            activation.wake_up(true);
-                            // Make sure the sleep change flag is set (even if for some
-                            // reasons the rigid-body was already awake) to make
-                            // sure the code handling sleeping change adds the body to
-                            // the active_dynamic_set.
-                            changes.set(RigidBodyChanges::SLEEP, true);
-                        }
-                        RigidBodyType::KinematicVelocityBased
-                        | RigidBodyType::KinematicPositionBased => {
-                            // Remove from the active dynamic set if it was there.
-                            if islands.active_dynamic_set.get(ids.active_set_id) == Some(handle) {
-                                islands.active_dynamic_set.swap_remove(ids.active_set_id);
-                                final_action = Some((
-                                    FinalAction::UpdateActiveDynamicSetId,
-                                    ids.active_set_id,
-                                ));
+            if rb.is_enabled() {
+                // The body's status changed. We need to make sure
+                // it is on the correct active set.
+                if let Some(islands) = islands.as_deref_mut() {
+                    if changes.contains(RigidBodyChanges::TYPE) {