diff options
| author | Sébastien Crozet <sebcrozet@dimforge.com> | 2024-06-02 19:23:36 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2024-06-09 12:09:58 +0200 |
| commit | d9585de20bc158006e4669c251d5d8b3edfbf188 (patch) | |
| tree | 292ed7d9ee0bf379fda6d69f0641a88819234187 /src/geometry | |
| parent | 2041c9549dcc805ff5f7e9dd0bf648519f138348 (diff) | |
| download | rapier-d9585de20bc158006e4669c251d5d8b3edfbf188.tar.gz rapier-d9585de20bc158006e4669c251d5d8b3edfbf188.tar.bz2 rapier-d9585de20bc158006e4669c251d5d8b3edfbf188.zip | |
feat: add the ability to disable all contacts between two links belonging to the same multibody
Diffstat (limited to 'src/geometry')
| -rw-r--r-- | src/geometry/narrow_phase.rs | 30 |
1 files changed, 24 insertions, 6 deletions
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 1eddd73..717fa25 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -835,12 +835,30 @@ impl NarrowPhase { } } - if let Some((_, _, mb_link)) = - multibody_joints.joint_between(co_parent1.handle, co_parent2.handle) - { - if !mb_link.joint.data.contacts_enabled { - pair.clear(); - break 'emit_events; + let link1 = multibody_joints.rigid_body_link(co_parent1.handle); + let link2 = multibody_joints.rigid_body_link(co_parent2.handle); + + if let (Some(link1),Some(link2)) = (link1, link2) { + // If both bodies belong to the same multibody, apply some additional built-in + // contact filtering rules. + if link1.multibody == link2.multibody { + // 1) check if self-contacts is enabled. + if let Some(mb) = multibody_joints.get_multibody(link1.multibody) { + if !mb.self_contacts_enabled() { + pair.clear(); + break 'emit_events; + } + } + + // 2) if they are attached by a joint, check if contacts is disabled. + if let Some((_, _, mb_link)) = + multibody_joints.joint_between(co_parent1.handle, co_parent2.handle) + { + if !mb_link.joint.data.contacts_enabled { + pair.clear(); + break 'emit_events; + } + } } } } |