Add ActiveCollisionTypes to easily enable collision-detection between two non-static rigid-body.

3 files changed, 19 insertions, 19 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);
diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs
index 918e7c4..f937979 100644
--- a/src/dynamics/ccd/toi_entry.rs
+++ b/src/dynamics/ccd/toi_entry.rs
@@ -2,7 +2,7 @@ use crate::dynamics::{
     RigidBodyCcd, RigidBodyHandle, RigidBodyMassProps, RigidBodyPosition, RigidBodyVelocity,
 };
 use crate::geometry::{
-    ColliderGroups, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
+    ColliderFlags, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
 };
 use crate::math::Real;
 use parry::query::{NonlinearRigidMotion, QueryDispatcher};
@@ -49,14 +49,14 @@ impl TOIEntry {
             &ColliderType,
             &ColliderShape,
             &ColliderPosition,
-            &ColliderGroups,
+            &ColliderFlags,
             Option<&ColliderParent>,
         ),
         c2: (
             &ColliderType,
             &ColliderShape,
             &ColliderPosition,
-            &ColliderGroups,
+            &ColliderFlags,
             Option<&ColliderParent>,
         ),
         b1: Option<(
@@ -82,8 +82,8 @@ impl TOIEntry {
             return None;
         }
 
-        let (co_type1, co_shape1, co_pos1, co_groups1, co_parent1) = c1;
-        let (co_type2, co_shape2, co_pos2, co_groups2, co_parent2) = c2;
+        let (co_type1, co_shape1, co_pos1, co_flags1, co_parent1) = c1;
+        let (co_type2, co_shape2, co_pos2, co_flags2, co_parent2) = c2;
 
         let linvel1 =
             frozen1.is_none() as u32 as Real * b1.map(|b| b.1.linvel).unwrap_or(na::zero());
@@ -110,7 +110,7 @@ impl TOIEntry {
             + smallest_contact_dist.max(0.0);
         let is_pseudo_intersection_test = co_type1.is_sensor()
             || co_type2.is_sensor()
-            || !co_groups1.solver_groups.test(co_groups2.solver_groups);
+            || !co_flags1.solver_groups.test(co_flags2.solver_groups);
 
         if (end_time - start_time) * vel12 < thickness {
             return None;
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index d1a00ce..ec67b66 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -54,23 +54,23 @@ pub type BodyStatus = RigidBodyType;
 /// The status of a body, governing the way it is affected by external forces.
 pub enum RigidBodyType {
     /// A `RigidBodyType::Dynamic` body can be affected by all external forces.
-    Dynamic,
+    Dynamic = 0,
     /// A `RigidBodyType::Static` body cannot be affected by external forces.
-    Static,
+    Static = 1,
     /// A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
     /// by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
     ///
     /// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
     /// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
     /// modified by the user and is independent from any contact or joint it is involved in.
-    KinematicPositionBased,
+    KinematicPositionBased = 2,
     /// A `RigidBodyType::KinematicVelocityBased` body cannot be affected by any external forces but can be controlled
     /// by the user at the velocity level while keeping realistic one-way interaction with dynamic bodies.
     ///
     /// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
     /// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
     /// modified by the user and is independent from any contact or joint it is involved in.
-    KinematicVelocityBased,
+    KinematicVelocityBased = 3,
     // Semikinematic, // A kinematic that performs automatic CCD with the static environment to avoid traversing it?
     // Disabled,
 }