diff options
| -rw-r--r-- | examples2d/one_way_platforms2.rs | 143 | ||||
| -rw-r--r-- | examples3d/one_way_platforms3.rs | 143 | ||||
| -rw-r--r-- | src/pipeline/physics_hooks.rs (renamed from src/geometry/pair_filter.rs) | 10 |
3 files changed, 295 insertions, 1 deletions
diff --git a/examples2d/one_way_platforms2.rs b/examples2d/one_way_platforms2.rs new file mode 100644 index 0000000..c7f58e8 --- /dev/null +++ b/examples2d/one_way_platforms2.rs @@ -0,0 +1,143 @@ +use na::{Point2, Vector2}; +use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier2d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet}; +use rapier2d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags}; +use rapier_testbed2d::Testbed; + +struct OneWayPlatformHook { + platform1: ColliderHandle, + platform2: ColliderHandle, +} + +impl PhysicsHooks for OneWayPlatformHook { + fn active_hooks(&self) -> PhysicsHooksFlags { + PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS + } + + fn modify_solver_contacts(&self, context: &mut ContactModificationContext) { + // The allowed normal for the first platform is its local +y axis, and the + // allowed normal for the second platform is its local -y axis. + // + // Now we have to be careful because the `manifold.local_n1` normal points + // toward the outside of the shape of `context.co1`. So we need to flip the + // allowed normal direction if the platform is in `context.collider_handle2`. + // + // Therefore: + // - If context.collider_handle1 == self.platform1 then the allowed normal is +y. + // - If context.collider_handle2 == self.platform1 then the allowed normal is -y. + // - If context.collider_handle1 == self.platform2 then its allowed normal +y needs to be flipped to -y. + // - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y. + let mut allowed_local_n1 = Vector2::zeros(); + + if context.collider_handle1 == self.platform1 { + allowed_local_n1 = Vector2::y(); + } else if context.collider_handle2 == self.platform1 { + // Flip the allowed direction. + allowed_local_n1 = -Vector2::y(); + } + + if context.collider_handle1 == self.platform2 { + allowed_local_n1 = -Vector2::y(); + } else if context.collider_handle2 == self.platform2 { + // Flip the allowed direction. + allowed_local_n1 = -Vector2::y(); + } + + // Call the helper function that simulates one-way platforms. + context.update_as_oneway_platform(&allowed_local_n1, 0.1); + + // Set the surface velocity of the accepted contacts. + let surface_velocity = if context.collider_handle1 == self.platform1 + || context.collider_handle2 == self.platform2 + { + -12.0 + } else { + 12.0 + }; + + for contact in context.solver_contacts.iter_mut() { + contact.surface_velocity.x = surface_velocity; + } + } +} + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let rigid_body = RigidBodyBuilder::new_static().build(); + let handle = bodies.insert(rigid_body); + + let collider = ColliderBuilder::cuboid(25.0, 0.5) + .translation(30.0, 2.0) + .modify_contacts(true) + .build(); + let platform1 = colliders.insert(collider, handle, &mut bodies); + let collider = ColliderBuilder::cuboid(25.0, 0.5) + .translation(-30.0, -2.0) + .modify_contacts(true) + .build(); + let platform2 = colliders.insert(collider, handle, &mut bodies); + + /* + * Setup the one-way platform hook. + */ + let physics_hooks = OneWayPlatformHook { + platform1, + platform2, + }; + + /* + * Spawn cubes at regular intervals and apply a custom gravity + * depending on their position. + */ + testbed.add_callback(move |mut window, mut graphics, physics, _, run_state| { + if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 { + // Spawn a new cube. + let collider = ColliderBuilder::cuboid(1.5, 2.0).build(); + let body = RigidBodyBuilder::new_dynamic() + .translation(20.0, 10.0) + .build(); + let handle = physics.bodies.insert(body); + physics + .colliders + .insert(collider, handle, &mut physics.bodies); + + if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) { + graphics.add(window, handle, &physics.bodies, &physics.colliders); + } + } + + physics.bodies.foreach_active_dynamic_body_mut(|_, body| { + if body.position().translation.y > 1.0 { + body.set_gravity_scale(1.0, false); + } else if body.position().translation.y < -1.0 { + body.set_gravity_scale(-1.0, false); + } + }); + }); + + /* + * Set up the testbed. + */ + testbed.set_world_with_params( + bodies, + colliders, + joints, + Vector2::new(0.0, -9.81), + physics_hooks, + ); + testbed.look_at(Point2::new(0.0, 0.0), 20.0); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples3d/one_way_platforms3.rs b/examples3d/one_way_platforms3.rs new file mode 100644 index 0000000..b3182a4 --- /dev/null +++ b/examples3d/one_way_platforms3.rs @@ -0,0 +1,143 @@ +use na::{Point3, Vector3}; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet}; +use rapier3d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags}; +use rapier_testbed3d::Testbed; + +struct OneWayPlatformHook { + platform1: ColliderHandle, + platform2: ColliderHandle, +} + +impl PhysicsHooks for OneWayPlatformHook { + fn active_hooks(&self) -> PhysicsHooksFlags { + PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS + } + + fn modify_solver_contacts(&self, context: &mut ContactModificationContext) { + // The allowed normal for the first platform is its local +y axis, and the + // allowed normal for the second platform is its local -y axis. + // + // Now we have to be careful because the `manifold.local_n1` normal points + // toward the outside of the shape of `context.co1`. So we need to flip the + // allowed normal direction if the platform is in `context.collider_handle2`. + // + // Therefore: + // - If context.collider_handle1 == self.platform1 then the allowed normal is +y. + // - If context.collider_handle2 == self.platform1 then the allowed normal is -y. + // - If context.collider_handle1 == self.platform2 then its allowed normal +y needs to be flipped to -y. + // - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y. + let mut allowed_local_n1 = Vector3::zeros(); + + if context.collider_handle1 == self.platform1 { + allowed_local_n1 = Vector3::y(); + } else if context.collider_handle2 == self.platform1 { + // Flip the allowed direction. + allowed_local_n1 = -Vector3::y(); + } + + if context.collider_handle1 == self.platform2 { + allowed_local_n1 = -Vector3::y(); + } else if context.collider_handle2 == self.platform2 { + // Flip the allowed direction. + allowed_local_n1 = -Vector3::y(); + } + + // Call the helper function that simulates one-way platforms. + context.update_as_oneway_platform(&allowed_local_n1, 0.1); + + // Set the surface velocity of the accepted contacts. + let surface_velocity = if context.collider_handle1 == self.platform1 + || context.collider_handle2 == self.platform2 + { + -12.0 + } else { + 12.0 + }; + + for contact in context.solver_contacts.iter_mut() { + contact.surface_velocity.z = surface_velocity; + } + } +} + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let rigid_body = RigidBodyBuilder::new_static().build(); + let handle = bodies.insert(rigid_body); + + let collider = ColliderBuilder::cuboid(9.0, 0.5, 25.0) + .translation(0.0, 2.0, 30.0) + .modify_contacts(true) + .build(); + let platform1 = colliders.insert(collider, handle, &mut bodies); + let collider = ColliderBuilder::cuboid(9.0, 0.5, 25.0) + .translation(0.0, -2.0, -30.0) + .modify_contacts(true) + .build(); + let platform2 = colliders.insert(collider, handle, &mut bodies); + + /* + * Setup the one-way platform hook. + */ + let physics_hooks = OneWayPlatformHook { + platform1, + platform2, + }; + + /* + * Spawn cubes at regular intervals and apply a custom gravity + * depending on their position. + */ + testbed.add_callback(move |mut window, mut graphics, physics, _, run_state| { + if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 { + // Spawn a new cube. + let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.5).build(); + let body = RigidBodyBuilder::new_dynamic() + .translation(0.0, 6.0, 20.0) + .build(); + let handle = physics.bodies.insert(body); + physics + .colliders + .insert(collider, handle, &mut physics.bodies); + + if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) { + graphics.add(window, handle, &physics.bodies, &physics.colliders); + } + } + + physics.bodies.foreach_active_dynamic_body_mut(|_, body| { + if body.position().translation.y > 1.0 { + body.set_gravity_scale(1.0, false); + } else if body.position().translation.y < -1.0 { + body.set_gravity_scale(-1.0, false); + } + }); + }); + + /* + * Set up the testbed. + */ + testbed.set_world_with_params( + bodies, + colliders, + joints, + Vector3::new(0.0, -9.81, 0.0), + physics_hooks, + ); + testbed.look_at(Point3::new(-100.0, 0.0, 0.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/src/geometry/pair_filter.rs b/src/pipeline/physics_hooks.rs index a30145e..12b658f 100644 --- a/src/geometry/pair_filter.rs +++ b/src/pipeline/physics_hooks.rs @@ -60,6 +60,9 @@ pub trait PhysicsHooks: Send + Sync { /// Applies the contact pair filter. /// + /// Note that this method will only be called if `self.active_hooks()` + /// contains the `PhysicsHooksFlags::FILTER_CONTACT_PAIR` flags. + /// /// User-defined filter for potential contact pairs detected by the broad-phase. /// This can be used to apply custom logic in order to decide whether two colliders /// should have their contact computed by the narrow-phase, and if these contact @@ -82,6 +85,9 @@ pub trait PhysicsHooks: Send + Sync { /// Applies the intersection pair filter. /// + /// Note that this method will only be called if `self.active_hooks()` + /// contains the `PhysicsHooksFlags::FILTER_INTERSECTION_PAIR` flags. + /// /// User-defined filter for potential intersection pairs detected by the broad-phase. /// /// This can be used to apply custom logic in order to decide whether two colliders @@ -100,6 +106,9 @@ pub trait PhysicsHooks: Send + Sync { /// Modifies the set of contacts seen by the constraints solver. /// + /// Note that this method will only be called if `self.active_hooks()` + /// contains the `PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS` flags. + /// /// By default, the content of `solver_contacts` is computed from `manifold.points`. /// This method will be called on each contact manifold which have the flag `SolverFlags::MODIFY_CONTACTS` set. /// This method can be used to modify the set of solver contacts seen by the constraints solver: contacts @@ -121,7 +130,6 @@ pub trait PhysicsHooks: Send + Sync { } impl PhysicsHooks for () { - /// The sets of hooks that must be taken into account. fn active_hooks(&self) -> PhysicsHooksFlags { PhysicsHooksFlags::empty() } |