Merge pull request #54 from dimforge/idiomatic_clone

Allow cloning all the physics components worth cloning

12 files changed, 55 insertions, 13 deletions

diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs
index 1afda5a..21413ef 100644
--- a/src/geometry/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap.rs
@@ -132,6 +132,7 @@ impl Endpoint {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct SAPAxis {
     min_bound: f32,
     max_bound: f32,
@@ -331,6 +332,7 @@ impl SAPAxis {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct SAPRegion {
     axes: [SAPAxis; DIM],
     existing_proxies: BitVec,
@@ -411,6 +413,7 @@ impl SAPRegion {
 
 /// A broad-phase based on multiple Sweep-and-Prune instances running of disjoint region of the 3D world.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct BroadPhase {
     proxies: Proxies,
     regions: HashMap<Point<i32>, SAPRegion>,
@@ -438,6 +441,7 @@ pub struct BroadPhase {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub(crate) struct BroadPhaseProxy {
     handle: ColliderHandle,
     aabb: AABB<f32>,
@@ -445,6 +449,7 @@ pub(crate) struct BroadPhaseProxy {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct Proxies {
     elements: Vec<BroadPhaseProxy>,
     first_free: u32,
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index f53d75a..c2adc59 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -188,6 +188,7 @@ impl<'de> serde::Deserialize<'de> for ColliderShape {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.
 ///
 /// To build a new collider, use the `ColliderBuilder` structure.
@@ -212,20 +213,14 @@ pub struct Collider {
     pub user_data: u128,
 }
 
-impl Clone for Collider {
-    fn clone(&self) -> Self {
-        Self {
-            shape: self.shape.clone(),
-            parent: RigidBodySet::invalid_handle(),
-            contact_graph_index: ColliderGraphIndex::new(crate::INVALID_U32),
-            proximity_graph_index: ColliderGraphIndex::new(crate::INVALID_U32),
-            proxy_index: crate::INVALID_USIZE,
-            ..*self
-        }
+impl Collider {
+    pub(crate) fn reset_internal_references(&mut self) {
+        self.parent = RigidBodySet::invalid_handle();
+        self.contact_graph_index = InteractionGraph::<Contact>::invalid_graph_index();
+        self.proximity_graph_index = InteractionGraph::<Proximity>::invalid_graph_index();
+        self.proxy_index = crate::INVALID_USIZE;
     }
-}
 
-impl Collider {
     /// The rigid body this collider is attached to.
     pub fn parent(&self) -> RigidBodyHandle {
         self.parent
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index 5ac9658..fd94675 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -17,6 +17,7 @@ pub(crate) struct RemovedCollider {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// A set of colliders that can be handled by a physics `World`.
 pub struct ColliderSet {
     pub(crate) removed_colliders: PubSub<RemovedCollider>,
@@ -59,6 +60,10 @@ impl ColliderSet {
         parent_handle: RigidBodyHandle,
         bodies: &mut RigidBodySet,
     ) -> ColliderHandle {
+        // Make sure the internal links are reset, they may not be
+        // if this rigid-body was obtained by cloning another one.
+        coll.reset_internal_references();
+
         coll.parent = parent_handle;
         let parent = bodies
             .get_mut_internal(parent_handle)
diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs
index 53e9064..a4a176e 100644
--- a/src/geometry/contact.rs
+++ b/src/geometry/contact.rs
@@ -172,6 +172,7 @@ impl Contact {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 /// The description of all the contacts between a pair of colliders.
 pub struct ContactPair {
     /// The pair of colliders involved.
diff --git a/src/geometry/contact_generator/contact_generator_workspace.rs b/src/geometry/contact_generator/contact_generator_workspace.rs
index fb6d7b4..e89395f 100644
--- a/src/geometry/contact_generator/contact_generator_workspace.rs
+++ b/src/geometry/contact_generator/contact_generator_workspace.rs
@@ -9,6 +9,12 @@ use crate::geometry::contact_generator::{
 // Note we have this newtype because it simplifies the serialization/deserialization code.
 pub struct ContactGeneratorWorkspace(pub Box<dyn MaybeSerializableData>);
 
+impl Clone for ContactGeneratorWorkspace {
+    fn clone(&self) -> Self {
+        ContactGeneratorWorkspace(self.0.clone_dyn())
+    }
+}
+
 impl<T: MaybeSerializableData> From<T> for ContactGeneratorWorkspace {
     fn from(data: T) -> Self {
         Self(Box::new(data) as Box<dyn MaybeSerializableData>)
diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
index 62c6365..70360c9 100644
--- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs
@@ -12,6 +12,7 @@ use crate::ncollide::bounding_volume::BoundingVolume;
 use erased_serde::Serialize;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 struct SubDetector {
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     generator: Option<PrimitiveContactGenerator>,
@@ -21,6 +22,7 @@ struct SubDetector {
 }
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct HeightFieldShapeContactGeneratorWorkspace {
     timestamp: bool,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
@@ -182,4 +184,8 @@ impl MaybeSerializableData for HeightFieldShapeContactGeneratorWorkspace {
             self,
         ))
     }
+
+    fn clone_dyn(&self) -> Box<dyn MaybeSerializableData> {
+        Box::new(self.clone())
+    }
 }
diff --git a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
index 027c398..5bc213e 100644
--- a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
+++ b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs
@@ -9,6 +9,7 @@ use ncollide::query;
 use ncollide::query::algorithms::{gjk::GJKResult, VoronoiSimplex};
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct PfmPfmContactManifoldGeneratorWorkspace {
     #[cfg_attr(
         feature = "serde-serialize",
@@ -136,4 +137,8 @@ impl MaybeSerializableData for PfmPfmContactManifoldGeneratorWorkspace {
             self,
         ))
     }
+
+    fn clone_dyn(&self) -> Box<dyn MaybeSerializableData> {
+        Box::new(self.clone())
+    }
 }
diff --git a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
index 26ccfaa..3f7d7cd 100644
--- a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
+++ b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs
@@ -8,6 +8,7 @@ use crate::ncollide::bounding_volume::{BoundingVolume, AABB};
 use erased_serde::Serialize;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct TrimeshShapeContactGeneratorWorkspace {
     interferences: Vec<usize>,
     local_aabb2: AABB<f32>,
@@ -213,4 +214,8 @@ impl MaybeSerializableData for TrimeshShapeContactGeneratorWorkspace {
             self,
         ))
     }
+
+    fn clone_dyn(&self) -> Box<dyn MaybeSerializableData> {
+        Box::new(self.clone())
+    }
 }
diff --git a/src/geometry/interaction_graph.rs b/src/geometry/interaction_graph.rs
index c0cf093..2abb6d1 100644
--- a/src/geometry/interaction_graph.rs
+++ b/src/geometry/interaction_graph.rs
@@ -10,6 +10,7 @@ pub type TemporaryInteractionIndex = EdgeIndex;
 
 /// A graph where nodes are collision objects and edges are contact or proximity algorithms.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct InteractionGraph<T> {
     pub(crate) graph: Graph<ColliderHandle, T>,
 }
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index e3e52e5..059a640 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -29,6 +29,7 @@ use std::collections::HashMap;
 
 /// The narrow-phase responsible for computing precise contact information between colliders.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Clone)]
 pub struct NarrowPhase {
     contact_graph: InteractionGraph<ContactPair>,
     proximity_graph: InteractionGraph<ProximityPair>,
diff --git a/src/geometry/polyhedron_feature3d.rs b/src/geometry/polyhedron_feature3d.rs
index d7f0a23..5ad62df 100644
--- a/src/geometry/polyhedron_feature3d.rs
+++ b/src/geometry/polyhedron_feature3d.rs
@@ -5,7 +5,7 @@ use crate::utils::WBasis;
 use na::Point2;
 use ncollide::shape::Segment;
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 pub struct PolyhedronFace {
     pub vertices: [Point<f32>; 4],
     pub vids: [u8; 4], // Feature ID of the vertices.
diff --git a/src/geometry/proximity.rs b/src/geometry/proximity.rs
index 88e6e76..d3e0dc4 100644
--- a/src/geometry/proximity.rs
+++ b/src/geometry/proximity.rs
@@ -15,6 +15,18 @@ pub struct ProximityPair {
     pub(crate) detector_workspace: Option<Box<dyn Any + Send + Sync>>,
 }
 
+// TODO: use the `derive(Clone)` instead?
+impl Clone for ProximityPair {
+    fn clone(&self) -> Self {
+        ProximityPair {
+            pair: self.pair.clone(),
+            proximity: self.proximity.clone(),
+            detector: None,
+            detector_workspace: None,
+        }
+    }
+}
+
 impl ProximityPair {
     pub(crate) fn new(
         pair: ColliderPair,