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-rw-r--r--examples3d/platform3.rs25
-rw-r--r--src/dynamics/rigid_body_set.rs46
-rw-r--r--src/pipeline/physics_pipeline.rs46
3 files changed, 87 insertions, 30 deletions
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index 3836baf..bb71b76 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -65,21 +65,22 @@ pub fn init_world(testbed: &mut Testbed) {
* Setup a callback to control the platform.
*/
testbed.add_callback(move |_, physics, _, _, time| {
- let mut platform = physics.bodies.get_mut(platform_handle).unwrap();
- let mut next_pos = platform.position;
+ if let Some(mut platform) = physics.bodies.get_mut(platform_handle) {
+ let mut next_pos = platform.position;
- let dt = 0.016;
- next_pos.translation.vector.y += (time * 5.0).sin() * dt;
- next_pos.translation.vector.z += time.sin() * 5.0 * dt;
+ let dt = 0.016;
+ next_pos.translation.vector.y += (time * 5.0).sin() * dt;
+ next_pos.translation.vector.z += time.sin() * 5.0 * dt;
- if next_pos.translation.vector.z >= rad * 10.0 {
- next_pos.translation.vector.z -= dt;
- }
- if next_pos.translation.vector.z <= -rad * 10.0 {
- next_pos.translation.vector.z += dt;
- }
+ if next_pos.translation.vector.z >= rad * 10.0 {
+ next_pos.translation.vector.z -= dt;
+ }
+ if next_pos.translation.vector.z <= -rad * 10.0 {
+ next_pos.translation.vector.z += dt;
+ }
- platform.set_next_kinematic_position(next_pos);
+ platform.set_next_kinematic_position(next_pos);
+ }
});
/*
diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs
index 99d6f10..14a6471 100644
--- a/src/dynamics/rigid_body_set.rs
+++ b/src/dynamics/rigid_body_set.rs
@@ -2,7 +2,7 @@
use rayon::prelude::*;
use crate::data::arena::Arena;
-use crate::dynamics::{Joint, RigidBody};
+use crate::dynamics::{BodyStatus, Joint, RigidBody};
use crate::geometry::{ColliderSet, ContactPair, InteractionGraph};
use crossbeam::channel::{Receiver, Sender};
use std::ops::{Deref, DerefMut, Index, IndexMut};
@@ -128,9 +128,23 @@ impl RigidBodySet {
pub(crate) fn activate(&mut self, handle: RigidBodyHandle) {
let mut rb = &mut self.bodies[handle];
- if self.active_dynamic_set.get(rb.active_set_id) != Some(&handle) {
- rb.active_set_id = self.active_dynamic_set.len();
- self.active_dynamic_set.push(handle);
+ match rb.body_status {
+ // XXX: this case should only concern the dynamic bodies.
+ // For static bodies we should use the modified_inactive_set, or something
+ // similar. Right now we do this for static bodies as well so the broad-phase
+ // takes them into account the first time they are inserted.
+ BodyStatus::Dynamic | BodyStatus::Static => {
+ if self.active_dynamic_set.get(rb.active_set_id) != Some(&handle) {
+ rb.active_set_id = self.active_dynamic_set.len();
+ self.active_dynamic_set.push(handle);
+ }
+ }
+ BodyStatus::Kinematic => {
+ if self.active_kinematic_set.get(rb.active_set_id) != Some(&handle) {
+ rb.active_set_id = self.active_kinematic_set.len();
+ self.active_kinematic_set.push(handle);
+ }
+ }
}
}
@@ -143,13 +157,14 @@ impl RigidBodySet {
pub fn insert(&mut self, rb: RigidBody) -> RigidBodyHandle {
let handle = self.bodies.insert(rb);
let rb = &mut self.bodies[handle];
- rb.active_set_id = self.active_dynamic_set.len();
if !rb.is_sleeping() && rb.is_dynamic() {
+ rb.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
}
if rb.is_kinematic() {
+ rb.active_set_id = self.active_kinematic_set.len();
self.active_kinematic_set.push(handle);
}
@@ -166,12 +181,15 @@ impl RigidBodySet {
pub(crate) fn remove_internal(&mut self, handle: RigidBodyHandle) -> Option<RigidBody> {
let rb = self.bodies.remove(handle)?;
- // Remove this body from the active dynamic set.
- if self.active_dynamic_set.get(rb.active_set_id) == Some(&handle) {
- self.active_dynamic_set.swap_remove(rb.active_set_id);
+ let mut active_sets = [&mut self.active_kinematic_set, &mut self.active_dynamic_set];
+
+ for active_set in &mut active_sets {
+ if active_set.get(rb.active_set_id) == Some(&handle) {
+ active_set.swap_remove(rb.active_set_id);
- if let Some(replacement) = self.active_dynamic_set.get(rb.active_set_id) {
- self.bodies[*replacement].active_set_id = rb.active_set_id;
+ if let Some(replacement) = active_set.get(rb.active_set_id) {
+ self.bodies[*replacement].active_set_id = rb.active_set_id;
+ }
}
}
@@ -181,6 +199,7 @@ impl RigidBodySet {
/// Forces the specified rigid-body to wake up if it is dynamic.
pub fn wake_up(&mut self, handle: RigidBodyHandle) {
if let Some(rb) = self.bodies.get_mut(handle) {
+ // TODO: what about kinematic bodies?
if rb.is_dynamic() {
rb.wake_up();
@@ -214,8 +233,11 @@ impl RigidBodySet {
///
/// Using this is discouraged in favor of `self.get_mut(handle)` which does not
/// suffer form the ABA problem.
- pub fn get_unknown_gen_mut(&mut self, i: usize) -> Option<(&mut RigidBody, RigidBodyHandle)> {
- self.bodies.get_unknown_gen_mut(i)
+ pub fn get_unknown_gen_mut(&mut self, i: usize) -> Option<(RigidBodyMut, RigidBodyHandle)> {
+ let sender = &self.activation_channel.0;
+ self.bodies
+ .get_unknown_gen_mut(i)
+ .map(|(rb, handle)| (RigidBodyMut::new(handle, rb, sender), handle))
}
/// Gets the rigid-body with the given handle.
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 8449477..192ca9a 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -298,8 +298,9 @@ impl PhysicsPipeline {
#[cfg(test)]
mod test {
- use crate::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
- use crate::geometry::{BroadPhase, ColliderSet, NarrowPhase};
+ use crate::dynamics::{IntegrationParameters, JointSet, RigidBodyBuilder, RigidBodySet};
+ use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
+ use crate::math::Vector;
use crate::pipeline::PhysicsPipeline;
#[test]
@@ -310,12 +311,45 @@ mod test {
let mut bf = BroadPhase::new();
let mut nf = NarrowPhase::new();
- let mut set = RigidBodySet::new();
- let rb = RigidBodyBuilder::new_dynamic().build();
+ let mut bodies = RigidBodySet::new();
// Check that removing the body right after inserting it works.
- let h1 = set.insert(rb.clone());
- pipeline.remove_rigid_body(h1, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
+ // We add two dynamic bodies, one kinematic body and one static body before removing
+ // them. This include a non-regression test where deleting a kimenatic body crashes.
+ let rb = RigidBodyBuilder::new_dynamic().build();
+ let h1 = bodies.insert(rb.clone());
+ let h2 = bodies.insert(rb.clone());
+
+ // The same but with a kinematic body.
+ let rb = RigidBodyBuilder::new_kinematic().build();
+ let h3 = bodies.insert(rb.clone());
+
+ // The same but with a static body.
+ let rb = RigidBodyBuilder::new_static().build();
+ let h4 = bodies.insert(rb.clone());
+
+ let to_delete = [h1, h2, h3, h4];
+ for h in &to_delete {
+ pipeline.remove_rigid_body(
+ *h,
+ &mut bf,
+ &mut nf,
+ &mut bodies,
+ &mut colliders,
+ &mut joints,
+ );
+ }
+
+ pipeline.step(
+ &Vector::zeros(),
+ &IntegrationParameters::default(),
+ &mut bf,
+ &mut nf,
+ &mut bodies,
+ &mut colliders,
+ &mut joints,
+ &(),
+ );
}
#[test]
generated by cgit (git 2.34.1) at 2026-02-03 07:54:51 +0000