diff options
Diffstat (limited to 'src/dynamics/ccd')
| -rw-r--r-- | src/dynamics/ccd/ccd_solver.rs | 30 | ||||
| -rw-r--r-- | src/dynamics/ccd/toi_entry.rs | 2 |
2 files changed, 22 insertions, 10 deletions
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs index b348283..354f183 100644 --- a/src/dynamics/ccd/ccd_solver.rs +++ b/src/dynamics/ccd/ccd_solver.rs @@ -10,6 +10,7 @@ use crate::geometry::{ use crate::math::Real; use crate::parry::utils::SortedPair; use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode}; +use crate::prelude::{ActiveEvents, ColliderFlags}; use parry::query::{DefaultQueryDispatcher, QueryDispatcher}; use parry::utils::hashmap::HashMap; use std::collections::BinaryHeap; @@ -66,7 +67,7 @@ impl CCDSolver { &RigidBodyCcd, &RigidBodyMassProps, ) = bodies.index_bundle(handle.0); - let local_com = &mprops.mass_properties.local_com; + let local_com = &mprops.local_mprops.local_com; let min_toi = (ccd.ccd_thickness * 0.15 @@ -272,7 +273,8 @@ impl CCDSolver { Colliders: ComponentSetOption<ColliderParent> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape> - + ComponentSet<ColliderType>, + + ComponentSet<ColliderType> + + ComponentSet<ColliderFlags>, { let mut frozen = HashMap::<_, Real>::default(); let mut all_toi = BinaryHeap::new(); @@ -522,10 +524,16 @@ impl CCDSolver { // - If the intersection isn't active anymore, and it wasn't intersecting // before, then we need to generate one interaction-start and one interaction-stop // events because it will never be detected by the narrow-phase because of tunneling. - let (co_pos1, co_shape1): (&ColliderPosition, &ColliderShape) = - colliders.index_bundle(toi.c1.0); - let (co_pos2, co_shape2): (&ColliderPosition, &ColliderShape) = - colliders.index_bundle(toi.c2.0); + let (co_pos1, co_shape1, co_flags1): ( + &ColliderPosition, + &ColliderShape, + &ColliderFlags, + ) = colliders.index_bundle(toi.c1.0); + let (co_pos2, co_shape2, co_flags2): ( + &ColliderPosition, + &ColliderShape, + &ColliderFlags, + ) = colliders.index_bundle(toi.c2.0); let co_next_pos1 = if let Some(b1) = toi.b1 { let co_parent1: &ColliderParent = colliders.get(toi.c1.0).unwrap(); @@ -535,7 +543,7 @@ impl CCDSolver { &RigidBodyMassProps, ) = bodies.index_bundle(b1.0); - let local_com1 = &rb_mprops1.mass_properties.local_com; + let local_com1 = &rb_mprops1.local_mprops.local_com; let frozen1 = frozen.get(&b1); let pos1 = frozen1 .map(|t| rb_vels1.integrate(*t, &rb_pos1.position, local_com1)) @@ -553,7 +561,7 @@ impl CCDSolver { &RigidBodyMassProps, ) = bodies.index_bundle(b2.0); - let local_com2 = &rb_mprops2.mass_properties.local_com; + let local_com2 = &rb_mprops2.local_mprops.local_com; let frozen2 = frozen.get(&b2); let pos2 = frozen2 .map(|t| rb_vels2.integrate(*t, &rb_pos2.position, local_com2)) @@ -575,7 +583,11 @@ impl CCDSolver { .intersection_test(&next_coll_pos12, co_shape1.as_ref(), co_shape2.as_ref()) .unwrap_or(false); - if !intersect_before && !intersect_after { + if !intersect_before + && !intersect_after + && (co_flags1.active_events | co_flags2.active_events) + .contains(ActiveEvents::INTERSECTION_EVENTS) + { // Emit one intersection-started and one intersection-stopped event. events.handle_intersection_event(IntersectionEvent::new(toi.c1, toi.c2, true)); events.handle_intersection_event(IntersectionEvent::new(toi.c1, toi.c2, false)); diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs index 4637940..78396c0 100644 --- a/src/dynamics/ccd/toi_entry.rs +++ b/src/dynamics/ccd/toi_entry.rs @@ -173,7 +173,7 @@ impl TOIEntry { if ccd.ccd_active { NonlinearRigidMotion::new( poss.position, - mprops.mass_properties.local_com, + mprops.local_mprops.local_com, vels.linvel, vels.angvel, ) |