Add solver flags for controlling whether or not some contacts should be taken into account by the constraints solver.

3 files changed, 20 insertions, 6 deletions

diff --git a/src/geometry/contact_generator/contact_generator.rs b/src/geometry/contact_generator/contact_generator.rs
index b034760..728794d 100644
--- a/src/geometry/contact_generator/contact_generator.rs
+++ b/src/geometry/contact_generator/contact_generator.rs
@@ -1,5 +1,6 @@
 use crate::geometry::{
     Collider, ColliderSet, ContactDispatcher, ContactEvent, ContactManifold, ContactPair, Shape,
+    SolverFlags,
 };
 use crate::math::Isometry;
 #[cfg(feature = "simd-is-enabled")]
@@ -26,8 +27,9 @@ impl ContactPhase {
             Self::NearPhase(gen) => (gen.generate_contacts)(&mut context),
             Self::ExactPhase(gen) => {
                 // Build the primitive context from the non-primitive context and dispatch.
-                let (collider1, collider2, manifold, workspace) =
-                    context.pair.single_manifold(context.colliders);
+                let (collider1, collider2, manifold, workspace) = context
+                    .pair
+                    .single_manifold(context.colliders, context.solver_flags);
                 let mut context2 = PrimitiveContactGenerationContext {
                     prediction_distance: context.prediction_distance,
                     collider1,
@@ -85,9 +87,11 @@ impl ContactPhase {
                     [Option<&mut (dyn Any + Send + Sync)>; SIMD_WIDTH],
                 > = ArrayVec::new();
 
-                for pair in context.pairs.iter_mut() {
+                for (pair, solver_flags) in
+                    context.pairs.iter_mut().zip(context.solver_flags.iter())
+                {
                     let (collider1, collider2, manifold, workspace) =
-                        pair.single_manifold(context.colliders);
+                        pair.single_manifold(context.colliders, *solver_flags);
                     colliders_arr.push((collider1, collider2));
                     manifold_arr.push(manifold);
                     workspace_arr.push(workspace);
@@ -188,6 +192,7 @@ pub struct ContactGenerationContext<'a> {
     pub prediction_distance: f32,
     pub colliders: &'a ColliderSet,
     pub pair: &'a mut ContactPair,
+    pub solver_flags: SolverFlags,
 }
 
 #[cfg(feature = "simd-is-enabled")]
@@ -196,6 +201,7 @@ pub struct ContactGenerationContextSimd<'a, 'b> {
     pub prediction_distance: f32,
     pub colliders: &'a ColliderSet,
     pub pairs: &'a mut [&'b mut ContactPair],
+    pub solver_flags: &'a [SolverFlags],
 }
 
 #[derive(Copy, Clone)]
diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
index 9224d4e..f291fa0 100644
--- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
@@ -104,6 +104,7 @@ fn do_generate_contacts(
     let manifolds = &mut ctxt.pair.manifolds;
     let prediction_distance = ctxt.prediction_distance;
     let dispatcher = ctxt.dispatcher;
+    let solver_flags = ctxt.solver_flags;
     let shape_type2 = collider2.shape().shape_type();
 
     heightfield1.map_elements_in_local_aabb(&ls_aabb2, &mut |i, part1, _| {
@@ -131,8 +132,14 @@ fn do_generate_contacts(
                     timestamp: new_timestamp,
                     workspace: workspace2,
                 };
-                let manifold =
-                    ContactManifold::with_subshape_indices(coll_pair, collider1, collider2, i, 0);
+                let manifold = ContactManifold::with_subshape_indices(
+                    coll_pair,
+                    collider1,
+                    collider2,
+                    i,
+                    0,
+                    solver_flags,
+                );
                 manifolds.push(manifold);
 
                 entry.insert(sub_detector)
diff --git a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
index 502658d..9474516 100644
--- a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
@@ -149,6 +149,7 @@ fn do_generate_contacts(
                     collider2,
                     *triangle_id,
                     0,
+                    ctxt.solver_flags,
                 )
             } else {
                 // We already have a manifold for this triangle.