aboutsummaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--examples3d-f64/debug_serialized3.rs2
-rw-r--r--examples3d/debug_deserialize3.rs2
-rw-r--r--src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs (renamed from src/geometry/broad_phase_multi_sap/broad_phase.rs)14
-rw-r--r--src/geometry/broad_phase_multi_sap/mod.rs4
-rw-r--r--src/geometry/broad_phase_multi_sap/sap_layer.rs4
-rw-r--r--src/geometry/broad_phase_qbvh.rs6
-rw-r--r--src/geometry/mod.rs4
-rw-r--r--src/pipeline/collision_pipeline.rs11
-rw-r--r--src/pipeline/physics_pipeline.rs16
-rw-r--r--src_testbed/harness/mod.rs4
-rw-r--r--src_testbed/physics/mod.rs12
11 files changed, 41 insertions, 38 deletions
diff --git a/examples3d-f64/debug_serialized3.rs b/examples3d-f64/debug_serialized3.rs
index e2fa747..86ff2a8 100644
--- a/examples3d-f64/debug_serialized3.rs
+++ b/examples3d-f64/debug_serialized3.rs
@@ -4,7 +4,7 @@ use rapier_testbed3d::Testbed;
#[derive(serde::Deserialize)]
struct State {
pub islands: IslandManager,
- pub broad_phase: BroadPhase,
+ pub broad_phase: BroadPhaseMultiSap,
pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet,
pub colliders: ColliderSet,
diff --git a/examples3d/debug_deserialize3.rs b/examples3d/debug_deserialize3.rs
index b8b79fb..e1ea083 100644
--- a/examples3d/debug_deserialize3.rs
+++ b/examples3d/debug_deserialize3.rs
@@ -6,7 +6,7 @@ struct PhysicsState {
pub gravity: Vector<f32>,
pub integration_parameters: IntegrationParameters,
pub islands: IslandManager,
- pub broad_phase: BroadPhase,
+ pub broad_phase: BroadPhaseMultiSap,
pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet,
pub colliders: ColliderSet,
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
index 9e1bc06..24bc72d 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
@@ -74,7 +74,7 @@ use parry::utils::hashmap::HashMap;
/// broad-phase, as well as the Aabbs of all the regions part of this broad-phase.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
-pub struct BroadPhase {
+pub struct BroadPhaseMultiSap {
proxies: SAPProxies,
layers: Vec<SAPLayer>,
smallest_layer: u8,
@@ -114,16 +114,16 @@ pub struct BroadPhase {
reporting: HashMap<(u32, u32), bool>, // Workspace
}
-impl Default for BroadPhase {
+impl Default for BroadPhaseMultiSap {
fn default() -> Self {
Self::new()
}
}
-impl BroadPhase {
+impl BroadPhaseMultiSap {
/// Create a new empty broad-phase.
pub fn new() -> Self {
- BroadPhase {
+ BroadPhaseMultiSap {
proxies: SAPProxies::new(),
layers: Vec::new(),
smallest_layer: 0,
@@ -138,7 +138,7 @@ impl BroadPhase {
///
/// For each colliders marked as removed, we make their containing layer mark
/// its proxy as pre-deleted. The actual proxy removal will happen at the end
- /// of the `BroadPhase::update`.
+ /// of the `BroadPhaseMultiSap::update`.
fn handle_removed_colliders(&mut self, removed_colliders: &[ColliderHandle]) {
// For each removed collider, remove the corresponding proxy.
for removed in removed_colliders {
@@ -623,11 +623,11 @@ mod test {
use crate::dynamics::{
ImpulseJointSet, IslandManager, MultibodyJointSet, RigidBodyBuilder, RigidBodySet,
};
- use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet};
+ use crate::geometry::{BroadPhaseMultiSap, ColliderBuilder, ColliderSet};
#[test]
fn test_add_update_remove() {
- let mut broad_phase = BroadPhase::new();
+ let mut broad_phase = BroadPhaseMultiSap::new();
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut impulse_joints = ImpulseJointSet::new();
diff --git a/src/geometry/broad_phase_multi_sap/mod.rs b/src/geometry/broad_phase_multi_sap/mod.rs
index 0f85e96..a1951c7 100644
--- a/src/geometry/broad_phase_multi_sap/mod.rs
+++ b/src/geometry/broad_phase_multi_sap/mod.rs
@@ -1,4 +1,4 @@
-pub use self::broad_phase::BroadPhase;
+pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
pub use self::broad_phase_pair_event::{BroadPhasePairEvent, ColliderPair};
pub use self::sap_proxy::SAPProxyIndex;
@@ -9,7 +9,7 @@ use self::sap_proxy::*;
use self::sap_region::*;
use self::sap_utils::*;
-mod broad_phase;
+mod broad_phase_multi_sap;
mod broad_phase_pair_event;
mod sap_axis;
mod sap_endpoint;
diff --git a/src/geometry/broad_phase_multi_sap/sap_layer.rs b/src/geometry/broad_phase_multi_sap/sap_layer.rs
index 2266d56..12dc7f7 100644
--- a/src/geometry/broad_phase_multi_sap/sap_layer.rs
+++ b/src/geometry/broad_phase_multi_sap/sap_layer.rs
@@ -71,7 +71,7 @@ impl SAPLayer {
///
/// This method must be called in a bottom-up loop, propagating new regions from the
/// smallest layer, up to the largest layer. That loop is done by the Phase 3 of the
- /// BroadPhase::update.
+ /// BroadPhaseMultiSap::update.
pub fn propagate_created_regions(
&mut self,
larger_layer: &mut Self,
@@ -182,7 +182,7 @@ impl SAPLayer {
/// If the region with the given region key does not exist yet, it is created.
/// When a region is created, it creates a new proxy for that region, and its
/// proxy ID is added to `self.created_region` so it can be propagated during
- /// the Phase 3 of `BroadPhase::update`.
+ /// the Phase 3 of `BroadPhaseMultiSap::update`.
///
/// This returns the proxy ID of the already existing region if it existed, or
/// of the new region if it did not exist and has been created by this method.
diff --git a/src/geometry/broad_phase_qbvh.rs b/src/geometry/broad_phase_qbvh.rs
index 22ca562..56c2b6f 100644
--- a/src/geometry/broad_phase_qbvh.rs
+++ b/src/geometry/broad_phase_qbvh.rs
@@ -7,20 +7,20 @@ use parry::query::visitors::BoundingVolumeIntersectionsSimultaneousVisitor;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
-pub struct BroadPhase {
+pub struct BroadPhaseQbvh {
qbvh: Qbvh<ColliderHandle>,
stack: Vec<(u32, u32)>,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
workspace: QbvhUpdateWorkspace,
}
-impl Default for BroadPhase {
+impl Default for BroadPhaseQbvh {
fn default() -> Self {
Self::new()
}
}
-impl BroadPhase {
+impl BroadPhaseQbvh {
pub fn new() -> Self {
Self {
qbvh: Qbvh::new(),
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index 1525211..e3a868f 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -2,8 +2,8 @@
pub use self::broad_phase_multi_sap::{BroadPhasePairEvent, ColliderPair};
-pub use self::broad_phase_multi_sap::BroadPhase;
-// pub use self::broad_phase_qbvh::BroadPhase;
+pub use self::broad_phase_multi_sap::BroadPhaseMultiSap;
+// pub use self::broad_phase_qbvh::BroadPhaseMultiSap;
pub use self::collider_components::*;
pub use self::contact_pair::{
ContactData, ContactManifoldData, ContactPair, IntersectionPair, SolverContact, SolverFlags,
diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs
index 03396ed..504ad8f 100644
--- a/src/pipeline/collision_pipeline.rs
+++ b/src/pipeline/collision_pipeline.rs
@@ -2,7 +2,8 @@
use crate::dynamics::{ImpulseJointSet, MultibodyJointSet};
use crate::geometry::{
- BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair, NarrowPhase,
+ BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
+ NarrowPhase,
};
use crate::math::Real;
use crate::pipeline::{EventHandler, PhysicsHooks, QueryPipeline};
@@ -43,7 +44,7 @@ impl CollisionPipeline {
fn detect_collisions(
&mut self,
prediction_distance: Real,
- broad_phase: &mut BroadPhase,
+ broad_phase: &mut BroadPhaseMultiSap,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -107,7 +108,7 @@ impl CollisionPipeline {
pub fn step(
&mut self,
prediction_distance: Real,
- broad_phase: &mut BroadPhase,
+ broad_phase: &mut BroadPhaseMultiSap,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -192,7 +193,7 @@ mod tests {
let _ = collider_set.insert(collider_b);
let integration_parameters = IntegrationParameters::default();
- let mut broad_phase = BroadPhase::new();
+ let mut broad_phase = BroadPhaseMultiSap::new();
let mut narrow_phase = NarrowPhase::new();
let mut collision_pipeline = CollisionPipeline::new();
let physics_hooks = ();
@@ -244,7 +245,7 @@ mod tests {
let _ = collider_set.insert(collider_b);
let integration_parameters = IntegrationParameters::default();
- let mut broad_phase = BroadPhase::new();
+ let mut broad_phase = BroadPhaseMultiSap::new();
let mut narrow_phase = NarrowPhase::new();
let mut collision_pipeline = CollisionPipeline::new();
let physics_hooks = ();
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 893882d..6b4d11d 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -10,7 +10,7 @@ use crate::dynamics::{
RigidBodyChanges, RigidBodyHandle, RigidBodyPosition, RigidBodyType,
};
use crate::geometry::{
- BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
+ BroadPhaseMultiSap, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair,
ContactManifoldIndex, NarrowPhase, TemporaryInteractionIndex,
};
use crate::math::{Real, Vector};
@@ -93,7 +93,7 @@ impl PhysicsPipeline {
&mut self,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
- broad_phase: &mut BroadPhase,
+ broad_phase: &mut BroadPhaseMultiSap,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -406,7 +406,7 @@ impl PhysicsPipeline {
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
- broad_phase: &mut BroadPhase,
+ broad_phase: &mut BroadPhaseMultiSap,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
@@ -650,7 +650,7 @@ mod test {
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, RigidBodyBuilder,
RigidBodySet,
};
- use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
+ use crate::geometry::{BroadPhaseMultiSap, ColliderBuilder, ColliderSet, NarrowPhase};
use crate::math::Vector;
use crate::pipeline::PhysicsPipeline;
use crate::prelude::{MultibodyJointSet, RigidBodyType};
@@ -661,7 +661,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new();
- let mut bf = BroadPhase::new();
+ let mut bf = BroadPhaseMultiSap::new();
let mut nf = NarrowPhase::new();
let mut bodies = RigidBodySet::new();
let mut islands = IslandManager::new();
@@ -699,7 +699,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new();
- let mut bf = BroadPhase::new();
+ let mut bf = BroadPhaseMultiSap::new();
let mut nf = NarrowPhase::new();
let mut islands = IslandManager::new();
@@ -809,7 +809,7 @@ mod test {
let mut pipeline = PhysicsPipeline::new();
let gravity = Vector::y() * -9.81;
let integration_parameters = IntegrationParameters::default();
- let mut broad_phase = BroadPhase::new();
+ let mut broad_phase = BroadPhaseMultiSap::new();
let mut narrow_phase = NarrowPhase::new();
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
@@ -859,7 +859,7 @@ mod test {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let mut pipeline = PhysicsPipeline::new();
- let mut bf = BroadPhase::new();
+ let mut bf = BroadPhaseMultiSap::new();
let mut nf = NarrowPhase::new();
let mut islands = IslandManager::new();
diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index e27a03a..458f02f 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -9,7 +9,7 @@ use rapier::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodySet,
};
-use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
+use rapier::geometry::{BroadPhaseMultiSap, ColliderSet, NarrowPhase};
use rapier::math::{Real, Vector};
use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -179,7 +179,7 @@ impl Harness {
self.physics.hooks = Box::new(hooks);
self.physics.islands = IslandManager::new();
- self.physics.broad_phase = BroadPhase::new();
+ self.physics.broad_phase = BroadPhaseMultiSap::new();
self.physics.narrow_phase = NarrowPhase::new();
self.state.timestep_id = 0;
self.state.time = 0.0;
diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index c3b750f..38c9da0 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -3,7 +3,9 @@ use rapier::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodySet,
};
-use rapier::geometry::{BroadPhase, ColliderSet, CollisionEvent, ContactForceEvent, NarrowPhase};
+use rapier::geometry::{
+ BroadPhaseMultiSap, ColliderSet, CollisionEvent, ContactForceEvent, NarrowPhase,
+};
use rapier::math::{Real, Vector};
use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -20,7 +22,7 @@ pub struct PhysicsSnapshot {
pub struct DeserializedPhysicsSnapshot {
pub timestep_id: usize,
- pub broad_phase: BroadPhase,
+ pub broad_phase: BroadPhaseMultiSap,
pub narrow_phase: NarrowPhase,
pub island_manager: IslandManager,
pub bodies: RigidBodySet,
@@ -32,7 +34,7 @@ pub struct DeserializedPhysicsSnapshot {
impl PhysicsSnapshot {
pub fn new(
timestep_id: usize,
- broad_phase: &BroadPhase,
+ broad_phase: &BroadPhaseMultiSap,
narrow_phase: &NarrowPhase,
island_manager: &IslandManager,
bodies: &RigidBodySet,
@@ -86,7 +88,7 @@ impl PhysicsSnapshot {
pub struct PhysicsState {
pub islands: IslandManager,
- pub broad_phase: BroadPhase,
+ pub broad_phase: BroadPhaseMultiSap,
pub narrow_phase: NarrowPhase,
pub bodies: RigidBodySet,
pub colliders: ColliderSet,
@@ -110,7 +112,7 @@ impl PhysicsState {
pub fn new() -> Self {
Self {
islands: IslandManager::new(),
- broad_phase: BroadPhase::new(),
+ broad_phase: BroadPhaseMultiSap::new(),
narrow_phase: NarrowPhase::new(),
bodies: RigidBodySet::new(),
colliders: ColliderSet::new(),
generated by cgit (git 2.34.1) at 2026-01-16 14:31:23 +0000