Add prelude + use vectors for setting linvel/translation in builders

1 files changed, 110 insertions, 69 deletions

diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 08295c1..e73c518 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -2,10 +2,11 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle};
 use crate::geometry::{
     ColliderBroadPhaseData, ColliderChanges, ColliderGroups, ColliderMassProperties,
     ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
-    InteractionGroups, SharedShape, SolverFlags,
+    InteractionGroups, SharedShape,
 };
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM};
 use crate::parry::transformation::vhacd::VHACDParameters;
+use crate::pipeline::PhysicsHooksFlags;
 use na::Unit;
 use parry::bounding_volume::AABB;
 use parry::shape::Shape;
@@ -20,7 +21,7 @@ pub struct Collider {
     pub(crate) co_shape: ColliderShape,
     pub(crate) co_mprops: ColliderMassProperties,
     pub(crate) co_changes: ColliderChanges,
-    pub(crate) co_parent: ColliderParent,
+    pub(crate) co_parent: Option<ColliderParent>,
     pub(crate) co_pos: ColliderPosition,
     pub(crate) co_material: ColliderMaterial,
     pub(crate) co_groups: ColliderGroups,
@@ -31,14 +32,14 @@ pub struct Collider {
 
 impl Collider {
     pub(crate) fn reset_internal_references(&mut self) {
-        self.co_parent.handle = RigidBodyHandle::invalid();
+        self.co_parent = None;
         self.co_bf_data.proxy_index = crate::INVALID_U32;
         self.co_changes = ColliderChanges::all();
     }
 
     /// The rigid body this collider is attached to.
-    pub fn parent(&self) -> RigidBodyHandle {
-        self.co_parent.handle
+    pub fn parent(&self) -> Option<RigidBodyHandle> {
+        self.co_parent.map(|parent| parent.handle)
     }
 
     /// Is this collider a sensor?
@@ -46,6 +47,26 @@ impl Collider {
         self.co_type.is_sensor()
     }
 
+    /// The physics hooks enabled for this collider.
+    pub fn active_hooks(&self) -> PhysicsHooksFlags {
+        self.co_material.active_hooks
+    }
+
+    /// Sets the physics hooks enabled for this collider.
+    pub fn set_active_hooks(&mut self, active_hooks: PhysicsHooksFlags) {
+        self.co_material.active_hooks = active_hooks;
+    }
+
+    /// The friction coefficient of this collider.
+    pub fn friction(&self) -> Real {
+        self.co_material.friction
+    }
+
+    /// Sets the friction coefficient of this collider.
+    pub fn set_friction(&mut self, coefficient: Real) {
+        self.co_material.friction = coefficient
+    }
+
     /// The combine rule used by this collider to combine its friction
     /// coefficient with the friction coefficient of the other collider it
     /// is in contact with.
@@ -60,6 +81,16 @@ impl Collider {
         self.co_material.friction_combine_rule = rule;
     }
 
+    /// The restitution coefficient of this collider.
+    pub fn restitution(&self) -> Real {
+        self.co_material.restitution
+    }
+
+    /// Sets the restitution coefficient of this collider.
+    pub fn set_restitution(&mut self, coefficient: Real) {
+        self.co_material.restitution = coefficient
+    }
+
     /// The combine rule used by this collider to combine its restitution
     /// coefficient with the restitution coefficient of the other collider it
     /// is in contact with.
@@ -86,15 +117,22 @@ impl Collider {
         }
     }
 
-    #[doc(hidden)]
-    pub fn set_position_debug(&mut self, position: Isometry<Real>) {
-        self.co_pos.0 = position;
+    /// Sets the translational part of this collider's position.
+    pub fn set_translation(&mut self, translation: Vector<Real>) {
+        self.co_changes.insert(ColliderChanges::POSITION);
+        self.co_pos.0.translation.vector = translation;
     }
 
-    /// The position of this collider expressed in the local-space of the rigid-body it is attached to.
-    #[deprecated(note = "use `.position_wrt_parent()` instead.")]
-    pub fn delta(&self) -> &Isometry<Real> {
-        &self.co_parent.pos_wrt_parent
+    /// Sets the rotational part of this collider's position.
+    pub fn set_rotation(&mut self, rotation: AngVector<Real>) {
+        self.co_changes.insert(ColliderChanges::POSITION);
+        self.co_pos.0.rotation = Rotation::new(rotation);
+    }
+
+    /// Sets the position of this collider.
+    pub fn set_position(&mut self, position: Isometry<Real>) {
+        self.co_changes.insert(ColliderChanges::POSITION);
+        self.co_pos.0 = position;
     }
 
     /// The world-space position of this collider.
@@ -102,15 +140,31 @@ impl Collider {
         &self.co_pos
     }
 
+    /// The translational part of this rigid-body's position.
+    pub fn translation(&self) -> &Vector<Real> {
+        &self.co_pos.0.translation.vector
+    }
+
+    /// The rotational part of this rigid-body's position.
+    pub fn rotation(&self) -> &Rotation<Real> {
+        &self.co_pos.0.rotation
+    }
+
     /// The position of this collider wrt the body it is attached to.
-    pub fn position_wrt_parent(&self) -> &Isometry<Real> {
-        &self.co_parent.pos_wrt_parent
+    pub fn position_wrt_parent(&self) -> Option<&Isometry<Real>> {
+        self.co_parent.as_ref().map(|p| &p.pos_wrt_parent)
     }
 
     /// Sets the position of this collider wrt. its parent rigid-body.
-    pub fn set_position_wrt_parent(&mut self, position: Isometry<Real>) {
+    ///
+    /// Panics if the collider is not attached to a rigid-body.
+    pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) {
         self.co_changes.insert(ColliderChanges::PARENT);
-        self.co_parent.pos_wrt_parent = position;
+        let co_parent = self
+            .co_parent
+            .as_mut()
+            .expect("This collider has no parent.");
+        co_parent.pos_wrt_parent = pos_wrt_parent;
     }
 
     /// The collision groups used by this collider.
@@ -213,13 +267,12 @@ pub struct ColliderBuilder {
     pub restitution: Real,
     /// The rule used to combine two restitution coefficients.
     pub restitution_combine_rule: CoefficientCombineRule,
-    /// The position of this collider relative to the local frame of the rigid-body it is attached to.
-    pub pos_wrt_parent: Isometry<Real>,
+    /// The position of this collider.
+    pub position: Isometry<Real>,
     /// Is this collider a sensor?
     pub is_sensor: bool,
-    /// Do we have to always call the contact modifier
-    /// on this collider?
-    pub modify_solver_contacts: bool,
+    /// Physics hooks enabled for this collider.
+    pub active_hooks: PhysicsHooksFlags,
     /// The user-data of the collider being built.
     pub user_data: u128,
     /// The collision groups for the collider being built.
@@ -237,14 +290,14 @@ impl ColliderBuilder {
             mass_properties: None,
             friction: Self::default_friction(),
             restitution: 0.0,
-            pos_wrt_parent: Isometry::identity(),
+            position: Isometry::identity(),
             is_sensor: false,
             user_data: 0,
             collision_groups: InteractionGroups::all(),
             solver_groups: InteractionGroups::all(),
             friction_combine_rule: CoefficientCombineRule::Average,
             restitution_combine_rule: CoefficientCombineRule::Average,
-            modify_solver_contacts: false,
+            active_hooks: PhysicsHooksFlags::empty(),
         }
     }
 
@@ -489,6 +542,11 @@ impl ColliderBuilder {
         0.5
     }
 
+    /// The default density used by the collider builder.
+    pub fn default_density() -> Real {
+        1.0
+    }
+
     /// Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder.
     pub fn user_data(mut self, data: u128) -> Self {
         self.user_data = data;
@@ -522,10 +580,9 @@ impl ColliderBuilder {
         self
     }
 
-    /// If set to `true` then the physics hooks will always run to modify
-    /// contacts involving this collider.
-    pub fn modify_solver_contacts(mut self, modify_solver_contacts: bool) -> Self {
-        self.modify_solver_contacts = modify_solver_contacts;
+    /// The set of physics hooks enabled for this collider.
+    pub fn active_hooks(mut self, active_hooks: PhysicsHooksFlags) -> Self {
+        self.active_hooks = active_hooks;
         self
     }
 
@@ -571,51 +628,45 @@ impl ColliderBuilder {
         self
     }
 
-    /// Sets the initial translation of the collider to be created,
-    /// relative to the rigid-body it is attached to.
-    #[cfg(feature = "dim2")]
-    pub fn translation(mut self, x: Real, y: Real) -> Self {
-        self.pos_wrt_parent.translation.x = x;
-        self.pos_wrt_parent.translation.y = y;
-        self
-    }
-
-    /// Sets the initial translation of the collider to be created,
-    /// relative to the rigid-body it is attached to.
-    #[cfg(feature = "dim3")]
-    pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
-        self.pos_wrt_parent.translation.x = x;
-        self.pos_wrt_parent.translation.y = y;
-        self.pos_wrt_parent.translation.z = z;
+    /// Sets the initial translation of the collider to be created.
+    ///
+    /// If the collider will be attached to a rigid-body, this sets the translation relative to the
+    /// rigid-body it will be attached to.
+    pub fn translation(mut self, translation: Vector<Real>) -> Self {
+        self.position.translation.vector = translation;
         self
     }
 
-    /// Sets the initial orientation of the collider to be created,
-    /// relative to the rigid-body it is attached to.
+    /// Sets the initial orientation of the collider to be created.
+    ///
+    /// If the collider will be attached to a rigid-body, this sets the orientation relative to the
+    /// rigid-body it will be attached to.
     pub fn rotation(mut self, angle: AngVector<Real>) -> Self {
-        self.pos_wrt_parent.rotation = Rotation::new(angle);
+        self.position.rotation = Rotation::new(angle);
         self
     }
 
-    /// Sets the initial position (translation and orientation) of the collider to be created,
-    /// relative to the rigid-body it is attached to.
-    pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self {
-        self.pos_wrt_parent = pos;
+    /// Sets the initial position (translation and orientation) of the collider to be created.
+    ///
+    /// If the collider will be attached to a rigid-body, this sets the position relative
+    /// to the rigid-body it will be attached to.
+    pub fn position(mut self, pos: Isometry<Real>) -> Self {
+        self.position = pos;
         self
     }
 
     /// Sets the initial position (translation and orientation) of the collider to be created,
     /// relative to the rigid-body it is attached to.
-    #[deprecated(note = "Use `.position_wrt_parent` instead.")]
-    pub fn position(mut self, pos: Isometry<Real>) -> Self {
-        self.pos_wrt_parent = pos;
+    #[deprecated(note = "Use `.position` instead.")]
+    pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self {
+        self.position = pos;
         self
     }
 
     /// Set the position of this collider in the local-space of the rigid-body it is attached to.
-    #[deprecated(note = "Use `.position_wrt_parent` instead.")]
+    #[deprecated(note = "Use `.position` instead.")]
     pub fn delta(mut self, delta: Isometry<Real>) -> Self {
-        self.pos_wrt_parent = delta;
+        self.position = delta;
         self
     }
 
@@ -623,15 +674,11 @@ impl ColliderBuilder {
     pub fn build(&self) -> Collider {
         let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_groups, co_material, co_mprops) =
             self.components();
-        let co_parent = ColliderParent {
-            pos_wrt_parent: co_pos.0,
-            handle: RigidBodyHandle::invalid(),
-        };
         Collider {
             co_shape,
             co_mprops,
             co_material,
-            co_parent,
+            co_parent: None,
             co_changes,
             co_pos,
             co_bf_data,
@@ -657,17 +704,11 @@ impl ColliderBuilder {
         let mass_info = if let Some(mp) = self.mass_properties {
             ColliderMassProperties::MassProperties(Box::new(mp))
         } else {
-            let default_density = if self.is_sensor { 0.0 } else { 1.0 };
+            let default_density = Self::default_density();
             let density = self.density.unwrap_or(default_density);
             ColliderMassProperties::Density(density)
         };
 
-        let mut solver_flags = SolverFlags::default();
-        solver_flags.set(
-            SolverFlags::MODIFY_SOLVER_CONTACTS,
-            self.modify_solver_contacts,
-        );
-
         let co_shape = self.shape.clone();
         let co_mprops = mass_info;
         let co_material = ColliderMaterial {
@@ -675,10 +716,10 @@ impl ColliderBuilder {
             restitution: self.restitution,
             friction_combine_rule: self.friction_combine_rule,
             restitution_combine_rule: self.restitution_combine_rule,
-            solver_flags,
+            active_hooks: self.active_hooks,
         };
         let co_changes = ColliderChanges::all();
-        let co_pos = ColliderPosition(self.pos_wrt_parent);
+        let co_pos = ColliderPosition(self.position);
         let co_bf_data = ColliderBroadPhaseData::default();
         let co_groups = ColliderGroups {
             collision_groups: self.collision_groups,