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| author | Crozet Sébastien <developer@crozet.re> | 2021-06-01 17:59:07 +0200 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-06-01 17:59:07 +0200 |
| commit | 7153eb7779a29853289df90f28efaac738620386 (patch) | |
| tree | 561a81b65609b60c4429c134ea474a160d70d80e /src/dynamics/ccd/ccd_solver.rs | |
| parent | 1839f61d816af37c95889caf592b5a7cf8d89412 (diff) | |
| download | rapier-7153eb7779a29853289df90f28efaac738620386.tar.gz rapier-7153eb7779a29853289df90f28efaac738620386.tar.bz2 rapier-7153eb7779a29853289df90f28efaac738620386.zip | |
Add ActiveCollisionTypes to easily enable collision-detection between two non-static rigid-body.
Diffstat (limited to 'src/dynamics/ccd/ccd_solver.rs')
| -rw-r--r-- | src/dynamics/ccd/ccd_solver.rs | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs index dab4f73..7e95f08 100644 --- a/src/dynamics/ccd/ccd_solver.rs +++ b/src/dynamics/ccd/ccd_solver.rs @@ -10,7 +10,7 @@ use crate::geometry::{ use crate::math::Real; use crate::parry::utils::SortedPair; use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode}; -use crate::prelude::{ActiveEvents, ColliderFlags, ColliderGroups}; +use crate::prelude::{ActiveEvents, ColliderFlags}; use parry::query::{DefaultQueryDispatcher, QueryDispatcher}; use parry::utils::hashmap::HashMap; use std::collections::BinaryHeap; @@ -141,7 +141,7 @@ impl CCDSolver { + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape> + ComponentSet<ColliderType> - + ComponentSet<ColliderGroups>, + + ComponentSet<ColliderFlags>, { // Update the query pipeline. self.query_pipeline.update_with_mode( @@ -202,8 +202,8 @@ impl CCDSolver { { let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0); let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0); - let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0); - let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0); + let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0); + let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0); let co_type1: &ColliderType = colliders.index(ch1.0); let co_type2: &ColliderType = colliders.index(ch1.0); @@ -281,7 +281,7 @@ impl CCDSolver { + ComponentSet<ColliderShape> + ComponentSet<ColliderType> + ComponentSet<ColliderFlags> - + ComponentSet<ColliderGroups>, + + ComponentSet<ColliderFlags>, { let mut frozen = HashMap::<_, Real>::default(); let mut all_toi = BinaryHeap::new(); @@ -343,8 +343,8 @@ impl CCDSolver { { let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0); let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0); - let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0); - let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0); + let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0); + let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0); let bh1 = co_parent1.map(|p| p.handle); let bh2 = co_parent2.map(|p| p.handle); @@ -470,8 +470,8 @@ impl CCDSolver { .colliders_with_aabb_intersecting_aabb(&aabb, |ch2| { let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0); let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0); - let c1: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch1.0); - let c2: (_, _, _, &ColliderGroups) = colliders.index_bundle(ch2.0); + let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0); + let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0); let bh1 = co_parent1.map(|p| p.handle); let bh2 = co_parent2.map(|p| p.handle); |