Start experimenting with collider/rigid-body disabling.disabled-flag

5 files changed, 61 insertions, 5 deletions

diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 5eca5a2..085ee0c 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -36,6 +36,7 @@ pub struct RigidBody {
     pub(crate) body_type: RigidBodyType,
     /// The dominance group this rigid-body is part of.
     pub(crate) dominance: RigidBodyDominance,
+    pub(crate) enabled: bool,
     /// User-defined data associated to this rigid-body.
     pub user_data: u128,
 }
@@ -62,6 +63,7 @@ impl RigidBody {
             changes: RigidBodyChanges::all(),
             body_type: RigidBodyType::Dynamic,
             dominance: RigidBodyDominance::default(),
+            enabled: true,
             user_data: 0,
         }
     }
@@ -71,6 +73,17 @@ impl RigidBody {
         self.ids = Default::default();
     }
 
+    /// Is this rigid-body enabled?
+    pub fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+
+    /// Sets whether or not this rigid-body is enabled.
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.changes |= RigidBodyChanges::ENABLED;
+        self.enabled = enabled;
+    }
+
     /// The activation status of this rigid-body.
     pub fn activation(&self) -> &RigidBodyActivation {
         &self.activation
@@ -869,6 +882,8 @@ pub struct RigidBodyBuilder {
     ///
     /// CCD prevents tunneling, but may still allow limited interpenetration of colliders.
     pub ccd_enabled: bool,
+    /// Is this rigid-body enabled after its creation?
+    pub enabled: bool,
     /// The dominance group of the rigid-body to be built.
     pub dominance_group: i8,
     /// An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.
@@ -891,6 +906,7 @@ impl RigidBodyBuilder {
             can_sleep: true,
             sleeping: false,
             ccd_enabled: false,
+            enabled: true,
             dominance_group: 0,
             user_data: 0,
         }
@@ -1037,6 +1053,12 @@ impl RigidBodyBuilder {
         self
     }
 
+    /// Is this rigid-body enabled after its creation?
+    pub fn enabled(mut self, is_enabled: bool) -> self {
+        self.enabled = is_enabled;
+        self
+    }
+
     /// Sets the additional mass of the rigid-body being built.
     ///
     /// This is only the "additional" mass because the total mass of the  rigid-body is
@@ -1167,6 +1189,7 @@ impl RigidBodyBuilder {
         rb.vels.linvel = self.linvel;
         rb.vels.angvel = self.angvel;
         rb.body_type = self.body_type;
+        rb.enabled = self.enabled;
         rb.user_data = self.user_data;
 
         if self.additional_mass_properties != MassProperties::default() {
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index 3d35d17..ec20a6e 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -73,7 +73,6 @@ pub enum RigidBodyType {
     /// modified by the user and is independent from any contact or joint it is involved in.
     KinematicVelocityBased = 3,
     // Semikinematic, // A kinematic that performs automatic CCD with the fixed environment to avoid traversing it?
-    // Disabled,
 }
 
 impl RigidBodyType {
@@ -110,6 +109,8 @@ bitflags::bitflags! {
         const TYPE        = 1 << 4;
         /// Flag indicating that the `RigidBodyDominance` component of this rigid-body has been modified.
         const DOMINANCE   = 1 << 5;
+        /// Flag indicating that the `RigidBody::enabled` status was changed.
+        const ENABLED     = 1 << 6;
     }
 }
 
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 8d9b005..d12f7b2 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -46,6 +46,17 @@ impl Collider {
         self.coll_type.is_sensor()
     }
 
+    /// Is this collider enabled?
+    pub fn is_enabled(&self) -> bool {
+        self.flags.enabled
+    }
+
+    /// Sets whether or not this collider is enabled.
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.changes.insert(ColliderChanges::ENABLED);
+        self.flags.enabled = enabled;
+    }
+
     /// The physics hooks enabled for this collider.
     pub fn active_hooks(&self) -> ActiveHooks {
         self.flags.active_hooks
@@ -309,6 +320,8 @@ pub struct ColliderBuilder {
     pub position: Isometry<Real>,
     /// Is this collider a sensor?
     pub is_sensor: bool,
+    /// Is this collider enabled after its creation?
+    pub enabled: bool,
     /// Contact pairs enabled for this collider.
     pub active_collision_types: ActiveCollisionTypes,
     /// Physics hooks enabled for this collider.
@@ -334,6 +347,7 @@ impl ColliderBuilder {
             restitution: 0.0,
             position: Isometry::identity(),
             is_sensor: false,
+            enabled: true,
             user_data: 0,
             collision_groups: InteractionGroups::all(),
             solver_groups: InteractionGroups::all(),
@@ -594,6 +608,12 @@ impl ColliderBuilder {
         self
     }
 
+    /// Is this collider enabled after its creation?
+    pub fn enabled(mut self, is_enabled: bool) -> Self {
+        self.enabled = is_enabled;
+        self
+    }
+
     /// Sets the collision groups used by this collider.
     ///
     /// Two colliders will interact iff. their collision groups are compatible.
@@ -775,6 +795,7 @@ impl ColliderBuilder {
             active_collision_types: self.active_collision_types,
             active_hooks: self.active_hooks,
             active_events: self.active_events,
+            enabled: self.enabled,
         };
         let changes = ColliderChanges::all();
         let pos = ColliderPosition(self.position);
diff --git a/src/geometry/collider_components.rs b/src/geometry/collider_components.rs
index 22f75e7..ab746a4 100644
--- a/src/geometry/collider_components.rs
+++ b/src/geometry/collider_components.rs
@@ -57,11 +57,13 @@ bitflags::bitflags! {
         const SHAPE    = 1 << 4; // => BF & NF update. NF pair workspace invalidation.
         /// Flag indicating that the `ColliderType` component of the collider has been modified.
         const TYPE     = 1 << 5; // => NF update. NF pair invalidation.
+        /// Flag indicating that this `Collider` or its parent `RigidBody` enabled status was changed.
+        const ENABLED  = 1 << 6; // => NF update.
         /// Flag indicating that the dominance groups of the parent of this collider have been modified.
         ///
         /// This flags is automatically set by the `PhysicsPipeline` when the `RigidBodyChanges::DOMINANCE`
         /// or `RigidBodyChanges::TYPE` of the parent rigid-body of this collider is detected.
-        const PARENT_EFFECTIVE_DOMINANCE = 1 << 6; // NF update.
+        const PARENT_EFFECTIVE_DOMINANCE = 1 << 7; // NF update.
     }
 }
 
@@ -309,7 +311,7 @@ impl ActiveCollisionTypes {
         //       First, we associate the following bit masks:
         //           - DYNAMIC = 0001
         //           - FIXED = 0010
-        //           - KINEMATIC = 1100
+        //           - KINEMATIC = 0011
         //       These are equal to the bits indexed by `RigidBodyType as u32`.
         //       The bit masks defined by ActiveCollisionTypes are defined is such a way
         //       that the first part of the variant name (e.g. DYNAMIC_*) indicates which
@@ -368,6 +370,8 @@ pub struct ColliderFlags {
     pub active_hooks: ActiveHooks,
     /// The events enabled for this collider.
     pub active_events: ActiveEvents,
+    /// Whether the collider takes part into the simulation or should be igonred.
+    pub enabled: bool,
 }
 
 impl Default for ColliderFlags {
@@ -378,6 +382,7 @@ impl Default for ColliderFlags {
             solver_groups: InteractionGroups::all(),
             active_hooks: ActiveHooks::empty(),
             active_events: ActiveEvents::empty(),
+            enabled: true,
         }
     }
 }
diff --git a/src/pipeline/user_changes.rs b/src/pipeline/user_changes.rs
index 9872208..be2cec3 100644
--- a/src/pipeline/user_changes.rs
+++ b/src/pipeline/user_changes.rs
@@ -151,15 +151,21 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
 
             if changes.contains(RigidBodyChanges::DOMINANCE)
                 || changes.contains(RigidBodyChanges::TYPE)
+                || changes.contains(RigidBodyChanges::ENABLED)
             {
+                // Propagate the modified flags to the attached colliders.
+                let flags = if changes.contains(RigidBodyChanges::ENABLED) {
+                    ColliderChanges::ENABLED
+                } else {
+                    ColliderChanges::PARENT_EFFECTIVE_DOMINANCE
+                };
                 for handle in rb.colliders.0.iter() {
                     let co = colliders.index_mut_internal(*handle);
                     if !co.changes.contains(ColliderChanges::MODIFIED) {
                         modified_colliders.push(*handle);
                     }
 
-                    co.changes |=
-                        ColliderChanges::MODIFIED | ColliderChanges::PARENT_EFFECTIVE_DOMINANCE;
+                    co.changes |= ColliderChanges::MODIFIED | flags;
                 }
             }