diff options
| -rw-r--r-- | CHANGELOG.md | 1 | ||||
| -rw-r--r-- | src/dynamics/ccd/ccd_solver.rs | 4 | ||||
| -rw-r--r-- | src/geometry/contact_pair.rs | 63 | ||||
| -rw-r--r-- | src/geometry/mod.rs | 22 | ||||
| -rw-r--r-- | src/geometry/narrow_phase.rs | 105 | ||||
| -rw-r--r-- | src/pipeline/event_handler.rs | 22 |
6 files changed, 146 insertions, 71 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md index 4b0459e..b1b2aad 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -14,6 +14,7 @@ to simplify the user’s event handling. - The `ActiveEvents::CONTACT_EVENTS` and `ActiveEvents::INTERSECTION_EVENTS` flags have been replaced by a single flag `ActiveEvents::COLLISION_EVENTS`. +- Events `CollisionEvent::Stopped` are now generated after a collider is removed. ## v0.12.0-alpha.0 (2 Jan. 2022) ### Fixed diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs index a4b1419..bd3b20b 100644 --- a/src/dynamics/ccd/ccd_solver.rs +++ b/src/dynamics/ccd/ccd_solver.rs @@ -616,8 +616,8 @@ impl CCDSolver { .contains(ActiveEvents::COLLISION_EVENTS) { // Emit one intersection-started and one intersection-stopped event. - events.handle_intersection_event(CollisionEvent::Started(toi.c1, toi.c2)); - events.handle_intersection_event(CollisionEvent::Stopped(toi.c1, toi.c2)); + events.handle_collision_event(CollisionEvent::Started(toi.c1, toi.c2), None); + events.handle_collision_event(CollisionEvent::Stopped(toi.c1, toi.c2, false), None); } } diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index 5826c7a..a75d58d 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -1,8 +1,11 @@ use crate::dynamics::RigidBodyHandle; use crate::geometry::{ColliderHandle, Contact, ContactManifold}; use crate::math::{Point, Real, Vector}; +use crate::pipeline::EventHandler; use parry::query::ContactManifoldsWorkspace; +use super::CollisionEvent; + bitflags::bitflags! { #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] /// Flags affecting the behavior of the constraints solver for a given contact manifold. @@ -47,6 +50,45 @@ impl Default for ContactData { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Copy, Clone, Debug)] +/// The description of all the contacts between a pair of colliders. +pub struct IntersectionPair { + /// Are the colliders intersecting? + pub intersecting: bool, + /// Was a `CollisionEvent::Started` emitted for this collider? + pub(crate) start_event_emited: bool, +} + +impl IntersectionPair { + pub(crate) fn new() -> Self { + Self { + intersecting: false, + start_event_emited: false, + } + } + + pub(crate) fn emit_start_event( + &mut self, + collider1: ColliderHandle, + collider2: ColliderHandle, + events: &dyn EventHandler, + ) { + self.start_event_emited = true; + events.handle_collision_event(CollisionEvent::new(collider1, collider2, true), None); + } + + pub(crate) fn emit_stop_event( + &mut self, + collider1: ColliderHandle, + collider2: ColliderHandle, + events: &dyn EventHandler, + ) { + self.start_event_emited = false; + events.handle_collision_event(CollisionEvent::new(collider1, collider2, false), None); + } +} + +#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[derive(Clone)] /// The description of all the contacts between a pair of colliders. pub struct ContactPair { @@ -60,6 +102,8 @@ pub struct ContactPair { pub manifolds: Vec<ContactManifold>, /// Is there any active contact in this contact pair? pub has_any_active_contact: bool, + /// Was a `CollisionEvent::Started` emitted for this collider? + pub(crate) start_event_emited: bool, pub(crate) workspace: Option<ContactManifoldsWorkspace>, } @@ -70,6 +114,7 @@ impl ContactPair { collider2, has_any_active_contact: false, manifolds: Vec::new(), + start_event_emited: false, workspace: None, } } @@ -109,6 +154,24 @@ impl ContactPair { deepest } + + pub(crate) fn emit_start_event(&mut self, events: &dyn EventHandler) { + self.start_event_emited = true; + + events.handle_collision_event( + CollisionEvent::new(self.collider1, self.collider2, true), + Some(self), + ); + } + + pub(crate) fn emit_stop_event(&mut self, events: &dyn EventHandler) { + self.start_event_emited = false; + + events.handle_collision_event( + CollisionEvent::new(self.collider1, self.collider2, false), + Some(self), + ); + } } #[derive(Clone, Debug)] diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs index 83c687b..5a56f2b 100644 --- a/src/geometry/mod.rs +++ b/src/geometry/mod.rs @@ -2,8 +2,9 @@ pub use self::broad_phase_multi_sap::{BroadPhase, BroadPhasePairEvent, ColliderPair}; pub use self::collider_components::*; -pub use self::contact_pair::{ContactData, ContactManifoldData}; -pub use self::contact_pair::{ContactPair, SolverContact, SolverFlags}; +pub use self::contact_pair::{ + ContactData, ContactManifoldData, ContactPair, IntersectionPair, SolverContact, SolverFlags, +}; pub use self::interaction_graph::{ ColliderGraphIndex, InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex, }; @@ -56,8 +57,11 @@ pub use parry::shape::SharedShape; pub enum CollisionEvent { /// Event occurring when two colliders start being in contact (or intersecting) Started(ColliderHandle, ColliderHandle), - /// Event occurring when two colliders stop being in contact (or intersecting) - Stopped(ColliderHandle, ColliderHandle), + /// Event occurring when two colliders stop being in contact (or intersecting). + /// + /// The boolean is set to `true` of this event originates from at least one of + /// the colliders being removed from the `ColliderSet`. + Stopped(ColliderHandle, ColliderHandle, bool), } impl CollisionEvent { @@ -65,31 +69,31 @@ impl CollisionEvent { if start { Self::Started(h1, h2) } else { - Self::Stopped(h1, h2) + Self::Stopped(h1, h2, false) } } /// Is this a `Started` collision event? pub fn started(self) -> bool { - matches!(self, CollisionEvent::Started(_, _)) + matches!(self, CollisionEvent::Started(..)) } /// Is this a `Stopped` collision event? pub fn stopped(self) -> bool { - matches!(self, CollisionEvent::Stopped(_, _)) + matches!(self, CollisionEvent::Stopped(..)) } /// The handle of the first collider involved in this collision event. pub fn collider1(self) -> ColliderHandle { match self { - Self::Started(h, _) | Self::Stopped(h, _) => h, + Self::Started(h, _) | Self::Stopped(h, _, _) => h, } } /// The handle of the second collider involved in this collision event. pub fn collider2(self) -> ColliderHandle { match self { - Self::Started(_, h) | Self::Stopped(_, h) => h, + Self::Started(_, h) | Self::Stopped(_, h, _) => h, } } } diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 8a57ef4..d737bfc 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -10,7 +10,7 @@ use crate::geometry::{ BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition, ColliderShape, ColliderType, CollisionEvent, ContactData, ContactManifold, ContactManifoldData, ContactPair, InteractionGraph, - SolverContact, SolverFlags, + IntersectionPair, SolverContact, SolverFlags, }; use crate::math::{Real, Vector}; use crate::pipeline::{ @@ -56,7 +56,7 @@ pub struct NarrowPhase { )] query_dispatcher: Arc<dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>>, contact_graph: InteractionGraph<ColliderHandle, ContactPair>, - intersection_graph: InteractionGraph<ColliderHandle, bool>, + intersection_graph: InteractionGraph<ColliderHandle, IntersectionPair>, graph_indices: Coarena<ColliderGraphIndices>, } @@ -101,7 +101,7 @@ impl NarrowPhase { } /// The intersection graph containing all intersection pairs and their intersection information. - pub fn intersection_graph(&self) -> &InteractionGraph<ColliderHandle, bool> { + pub fn intersection_graph(&self) -> &InteractionGraph<ColliderHandle, IntersectionPair> { &self.intersection_graph } @@ -146,7 +146,7 @@ impl NarrowPhase { .flat_map(move |id| { self.intersection_graph .interactions_with(id) - .map(|e| (e.0, e.1, *e.2)) + .map(|e| (e.0, e.1, e.2.intersecting)) }) } @@ -162,7 +162,7 @@ impl NarrowPhase { .flat_map(move |id| { self.intersection_graph .interactions_with(id) - .map(|e| (e.0, e.1, *e.2)) + .map(|e| (e.0, e.1, e.2.intersecting)) }) } @@ -211,7 +211,7 @@ impl NarrowPhase { let id2 = self.graph_indices.get_unknown_gen(collider2)?; self.intersection_graph .interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index) - .map(|c| *c.2) + .map(|c| c.2.intersecting) } /// The intersection pair involving two specific colliders. @@ -227,7 +227,7 @@ impl NarrowPhase { let id2 = self.graph_indices.get(collider2.0)?; self.intersection_graph .interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index) - .map(|c| *c.2) + .map(|c| c.2.intersecting) } /// All the contact pairs maintained by this narrow-phase. @@ -241,7 +241,7 @@ impl NarrowPhase { ) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ { self.intersection_graph .interactions_with_endpoints() - .map(|e| (e.0, e.1, *e.2)) + .map(|e| (e.0, e.1, e.2.intersecting)) } // #[cfg(feature = "parallel")] @@ -297,6 +297,7 @@ impl NarrowPhase { bodies, &mut prox_id_remap, &mut contact_id_remap, + events, ); } } @@ -308,20 +309,21 @@ impl NarrowPhase { &mut self, intersection_graph_id: ColliderGraphIndex, contact_graph_id: ColliderGraphIndex, - islands: Option<&mut IslandManager>, + mut islands: Option<&mut IslandManager>, colliders: &mut Colliders, bodies: &mut Bodies, prox_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>, contact_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>, + events: &dyn EventHandler, ) where Bodies: ComponentSetMut<RigidBodyActivation> + ComponentSet<RigidBodyType> + ComponentSetMut<RigidBodyIds>, Colliders: ComponentSetOption<ColliderParent>, { - // Wake up every body in contact with the deleted collider. - if let Some(islands) = islands { - for (a, b, _) in self.contact_graph.interactions_with(contact_graph_id) { + // Wake up every body in contact with the deleted collider and generate Stopped collision events. + if let Some(islands) = islands.as_deref_mut() { + for (a, b, pair) in self.contact_graph.interactions_with(contact_graph_id) { if let Some(parent) = colliders.get(a.0).map(|c| c.handle) { islands.wake_up(bodies, parent, true) } @@ -329,6 +331,24 @@ impl NarrowPhase { if let Some(parent) = colliders.get(b.0).map(|c| c.handle) { islands.wake_up(bodies, parent, true) } + + if pair.start_event_emited { + events.handle_collision_event(CollisionEvent::Stopped(a, b, true), Some(pair)); + } + } + } else { + // If there is no island, don’t wake-up bodies, but do send the Stopped collision event. + for (a, b, pair) in self.contact_graph.interactions_with(contact_graph_id) { + if pair.start_event_emited { + events.handle_collision_event(CollisionEvent::Stopped(a, b, true), Some(pair)); + } + } + } + + // Generate Stopped collision events for intersections. + for (a, b, pair) in self.intersection_graph.interactions_with(contact_graph_id) { + if pair.start_event_emited { + events.handle_collision_event(CollisionEvent::Stopped(a, b, true), None); } } @@ -506,21 +526,21 @@ impl NarrowPhase { || (mode == PairRemovalMode::Auto && (co_type1.is_sensor() || co_type2.is_sensor())) { - let was_intersecting = self + let intersection = self .intersection_graph .remove_edge(gid1.intersection_graph_index, gid2.intersection_graph_index); // Emit an intersection lost event if we had an intersection before removing the edge. - if Some(true) == was_intersecting { - let co_flag1: &ColliderFlags = colliders.index(pair.collider1.0); - let co_flag2: &ColliderFlags = colliders.index(pair.collider2.0); + if let Some(mut intersection) = intersection { + if intersection.intersecting { + let co_flag1: &ColliderFlags = colliders.index(pair.collider1.0); + let co_flag2: &ColliderFlags = colliders.index(pair.collider2.0); - if (co_flag1.active_events | co_flag2.active_events) - .contains(ActiveEvents::COLLISION_EVENTS) - { - let prox_event = - CollisionEvent::Stopped(pair.collider1, pair.collider2); - events.handle_intersection_event(prox_event) + if (co_flag1.active_events | co_flag2.active_events) + .contains(ActiveEvents::COLLISION_EVENTS) + { + intersection.emit_stop_event(pair.collider1, pair.collider2, events) + } } } } else { @@ -530,7 +550,7 @@ impl NarrowPhase { // Emit a contact stopped event if we had a contact before removing the edge. // Also wake up the dynamic bodies that were in contact. - if let Some(ctct) = contact_pair { + if let Some(mut ctct) = contact_pair { if ctct.has_any_active_contact { let co_parent1: Option<&ColliderParent> = colliders.get(pair.collider1.0); @@ -553,10 +573,7 @@ impl NarrowPhase { if (co_flag1.active_events | co_flag2.active_events) .contains(ActiveEvents::COLLISION_EVENTS) { - events.handle_contact_event( - CollisionEvent::Stopped(pair.collider1, pair.collider2), - &ctct, - ) + ctct.emit_stop_event(events); } } } @@ -615,7 +632,7 @@ impl NarrowPhase { let _ = self.intersection_graph.add_edge( gid1.intersection_graph_index, gid2.intersection_graph_index, - false, + IntersectionPair::new(), ); } } else { @@ -712,7 +729,7 @@ impl NarrowPhase { par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| { let handle1 = nodes[edge.source().index()].weight; let handle2 = nodes[edge.target().index()].weight; - let had_intersection = edge.weight; + let had_intersection = edge.weight.intersecting; // TODO: remove the `loop` once labels on blocks is stabilized. 'emit_events: loop { @@ -755,13 +772,13 @@ impl NarrowPhase { if !co_flags1.active_collision_types.test(rb_type1, rb_type2) && !co_flags2.active_collision_types.test(rb_type1, rb_type2) { - edge.weight = false; + edge.weight.intersecting = false; break 'emit_events; } // Filter based on collision groups. if !co_flags1.collision_groups.test(co_flags2.collision_groups) { - edge.weight = false; + edge.weight.intersecting = false; break 'emit_events; } @@ -779,13 +796,13 @@ impl NarrowPhase { if !hooks.filter_intersection_pair(&context) { // No intersection allowed. - edge.weight = false; + edge.weight.intersecting = false; break 'emit_events; } } let pos12 = co_pos1.inv_mul(co_pos2); - edge.weight = query_dispatcher + edge.weight.intersecting = query_dispatcher .intersection_test(&pos12, &**co_shape1, &**co_shape2) .unwrap_or(false); break 'emit_events; @@ -796,13 +813,13 @@ impl NarrowPhase { let active_events = co_flags1.active_events | co_flags2.active_events; if active_events.contains(ActiveEvents::COLLISION_EVENTS) - && had_intersection != edge.weight + && had_intersection != edge.weight.intersecting { - events.handle_intersection_event(CollisionEvent::new( - handle1, - handle2, - edge.weight, - )); + if edge.weight.intersecting { + edge.weight.emit_start_event(handle1, handle2, events); + } else { + edge.weight.emit_stop_event(handle1, handle2, events); + } } }); } @@ -1029,15 +1046,9 @@ impl NarrowPhase { if pair.has_any_active_contact != had_any_active_contact { if active_events.contains(ActiveEvents::COLLISION_EVENTS) { if pair.has_any_active_contact { - events.handle_contact_event( - CollisionEvent::Started(pair.collider1, pair.collider2), - pair, - ); + pair.emit_start_event(events); } else { - events.handle_contact_event( - CollisionEvent::Stopped(pair.collider1, pair.collider2), - pair, - ); + pair.emit_stop_event(events); } } } diff --git a/src/pipeline/event_handler.rs b/src/pipeline/event_handler.rs index 5fa90c6..f08a383 100644 --- a/src/pipeline/event_handler.rs +++ b/src/pipeline/event_handler.rs @@ -23,18 +23,18 @@ impl Default for ActiveEvents { pub trait EventHandler: Send + Sync { /// Handle a collision event. /// - /// A intersection event is emitted when the state of intersection between two colliders changes. - fn handle_intersection_event(&self, event: CollisionEvent); - /// Handle a contact event. + /// A collision event is emitted when the state of intersection between two colliders changes. /// - /// A contact event is emitted when two collider start or stop touching, independently from the - /// number of contact points involved. - fn handle_contact_event(&self, event: CollisionEvent, contact_pair: &ContactPair); + /// # Parameters + /// * `event` - The collision event. + /// * `contact_pair` - The current state of contacts between the two colliders. This is set ot `None` + /// if at least one of the collider is a sensor (in which case no contact information + /// is ever computed). + fn handle_collision_event(&self, event: CollisionEvent, contact_pair: Option<&ContactPair>); } impl EventHandler for () { - fn handle_intersection_event(&self, _event: CollisionEvent) {} - fn handle_contact_event(&self, _event: CollisionEvent, _contact_pair: &ContactPair) {} + fn handle_collision_event(&self, _event: CollisionEvent, _contact_pair: Option<&ContactPair>) {} } /// A collision event handler that collects events into a crossbeam channel. @@ -50,11 +50,7 @@ impl ChannelEventCollector { } impl EventHandler for ChannelEventCollector { - fn handle_intersection_event(&self, event: CollisionEvent) { - let _ = self.event_sender.send(event); - } - - fn handle_contact_event(&self, event: CollisionEvent, _: &ContactPair) { + fn handle_collision_event(&self, event: CollisionEvent, _: Option<&ContactPair>) { let _ = self.event_sender.send(event); } } |