Merge pull request #120 from dimforge/contact_modification

Add the ability to modify the contact points seen by the constraints solver

3 files changed, 16 insertions, 13 deletions

diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index afdc23a..5e75d85 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -7,7 +7,7 @@ use plugin::HarnessPlugin;
 use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
 use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
 use rapier::math::Vector;
-use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
+use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
 pub mod plugin;
 
@@ -111,15 +111,16 @@ impl Harness {
     }
 
     pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
-        self.set_world_with_gravity(bodies, colliders, joints, Vector::y() * -9.81)
+        self.set_world_with_params(bodies, colliders, joints, Vector::y() * -9.81, ())
     }
 
-    pub fn set_world_with_gravity(
+    pub fn set_world_with_params(
         &mut self,
         bodies: RigidBodySet,
         colliders: ColliderSet,
         joints: JointSet,
         gravity: Vector<f32>,
+        hooks: impl PhysicsHooks + 'static,
     ) {
         // println!("Num bodies: {}", bodies.len());
         // println!("Num joints: {}", joints.len());
@@ -127,6 +128,8 @@ impl Harness {
         self.physics.bodies = bodies;
         self.physics.colliders = colliders;
         self.physics.joints = joints;
+        self.physics.hooks = Box::new(hooks);
+
         self.physics.broad_phase = BroadPhase::new();
         self.physics.narrow_phase = NarrowPhase::new();
         self.state.timestep_id = 0;
@@ -176,8 +179,7 @@ impl Harness {
                     &mut physics.bodies,
                     &mut physics.colliders,
                     &mut physics.joints,
-                    None,
-                    None,
+                    &*physics.hooks,
                     event_handler,
                 );
             });
@@ -192,8 +194,7 @@ impl Harness {
             &mut self.physics.bodies,
             &mut self.physics.colliders,
             &mut self.physics.joints,
-            None,
-            None,
+            &*self.physics.hooks,
             &self.event_handler,
         );
 
diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index 808e9bd..0987e32 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -2,7 +2,7 @@ use crossbeam::channel::Receiver;
 use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
 use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
 use rapier::math::Vector;
-use rapier::pipeline::{PhysicsPipeline, QueryPipeline};
+use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
 pub struct PhysicsSnapshot {
     timestep_id: usize,
@@ -77,6 +77,7 @@ pub struct PhysicsState {
     pub query_pipeline: QueryPipeline,
     pub integration_parameters: IntegrationParameters,
     pub gravity: Vector<f32>,
+    pub hooks: Box<dyn PhysicsHooks>,
 }
 
 impl PhysicsState {
@@ -91,6 +92,7 @@ impl PhysicsState {
             query_pipeline: QueryPipeline::new(),
             integration_parameters: IntegrationParameters::default(),
             gravity: Vector::y() * -9.81,
+            hooks: Box::new(()),
         }
     }
 }
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index b8ef324..bc5cd6c 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -25,6 +25,7 @@ use rapier::geometry::{ColliderHandle, ColliderSet, NarrowPhase};
 #[cfg(feature = "dim3")]
 use rapier::geometry::{InteractionGroups, Ray};
 use rapier::math::{Isometry, Vector};
+use rapier::pipeline::PhysicsHooks;
 
 #[cfg(all(feature = "dim2", feature = "other-backends"))]
 use crate::box2d_backend::Box2dWorld;
@@ -245,20 +246,19 @@ impl Testbed {
     }
 
     pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
-        self.set_world_with_gravity(bodies, colliders, joints, Vector::y() * -9.81)
+        self.set_world_with_params(bodies, colliders, joints, Vector::y() * -9.81, ())
     }
 
-    pub fn set_world_with_gravity(
+    pub fn set_world_with_params(
         &mut self,
         bodies: RigidBodySet,
         colliders: ColliderSet,
         joints: JointSet,
         gravity: Vector<f32>,
+        hooks: impl PhysicsHooks + 'static,
     ) {
-        println!("Num bodies: {}", bodies.len());
-        println!("Num joints: {}", joints.len());
         self.harness
-            .set_world_with_gravity(bodies, colliders, joints, gravity);
+            .set_world_with_params(bodies, colliders, joints, gravity, hooks);
 
         self.state
             .action_flags