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| author | Sébastien Crozet <developer@crozet.re> | 2022-07-04 09:02:30 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-07-04 09:02:30 +0200 |
| commit | 9d9129192835afab572ba318f60df4e12da6551b (patch) | |
| tree | b5665abb9c97469354c8c4dfd1a3fca21057ce16 /src/pipeline | |
| parent | cd0be8c076c69b88bb1848de72228225eeccb52d (diff) | |
| parent | 5063f3bb4fec2716f78a208552ee260f22428840 (diff) | |
| download | rapier-9d9129192835afab572ba318f60df4e12da6551b.tar.gz rapier-9d9129192835afab572ba318f60df4e12da6551b.tar.bz2 rapier-9d9129192835afab572ba318f60df4e12da6551b.zip | |
Merge pull request #356 from dimforge/disable-joint-contacts
Add the ability to disable contacts between two rigid-bodies attached by joints
Diffstat (limited to 'src/pipeline')
| -rw-r--r-- | src/pipeline/collision_pipeline.rs | 3 | ||||
| -rw-r--r-- | src/pipeline/physics_pipeline.rs | 8 |
2 files changed, 11 insertions, 0 deletions
diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs index a27e5a8..ac92a04 100644 --- a/src/pipeline/collision_pipeline.rs +++ b/src/pipeline/collision_pipeline.rs @@ -1,5 +1,6 @@ //! Physics pipeline structures. +use crate::dynamics::{ImpulseJointSet, MultibodyJointSet}; use crate::geometry::{ BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair, NarrowPhase, }; @@ -81,6 +82,8 @@ impl CollisionPipeline { prediction_distance, bodies, colliders, + &ImpulseJointSet::new(), + &MultibodyJointSet::new(), modified_colliders, hooks, events, diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs index d1c3b65..d347637 100644 --- a/src/pipeline/physics_pipeline.rs +++ b/src/pipeline/physics_pipeline.rs @@ -85,6 +85,8 @@ impl PhysicsPipeline { narrow_phase: &mut NarrowPhase, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, + impulse_joints: &ImpulseJointSet, + multibody_joints: &MultibodyJointSet, modified_colliders: &[ColliderHandle], removed_colliders: &[ColliderHandle], hooks: &dyn PhysicsHooks, @@ -130,6 +132,8 @@ impl PhysicsPipeline { integration_parameters.prediction_distance, bodies, colliders, + impulse_joints, + multibody_joints, modified_colliders, hooks, events, @@ -449,6 +453,8 @@ impl PhysicsPipeline { narrow_phase, bodies, colliders, + impulse_joints, + multibody_joints, &modified_colliders[..], &mut removed_colliders, hooks, @@ -574,6 +580,8 @@ impl PhysicsPipeline { narrow_phase, bodies, colliders, + impulse_joints, + multibody_joints, &mut modified_colliders, &mut removed_colliders, hooks, |