diff options
Diffstat (limited to 'src/dynamics/joint/joint_set.rs')
| -rw-r--r-- | src/dynamics/joint/joint_set.rs | 67 |
1 files changed, 46 insertions, 21 deletions
diff --git a/src/dynamics/joint/joint_set.rs b/src/dynamics/joint/joint_set.rs index 5144d97..a87532a 100644 --- a/src/dynamics/joint/joint_set.rs +++ b/src/dynamics/joint/joint_set.rs @@ -1,11 +1,36 @@ use super::Joint; use crate::geometry::{InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex}; -use crate::data::arena::{Arena, Index}; +use crate::data::arena::Arena; use crate::dynamics::{JointParams, RigidBodyHandle, RigidBodySet}; /// The unique identifier of a joint added to the joint set. -pub type JointHandle = Index; +/// The unique identifier of a collider added to a collider set. +#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] +#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[repr(transparent)] +pub struct JointHandle(pub(crate) crate::data::arena::Index); + +impl JointHandle { + /// Converts this handle into its (index, generation) components. + pub fn into_raw_parts(self) -> (usize, u64) { + self.0.into_raw_parts() + } + + /// Reconstructs an handle from its (index, generation) components. + pub fn from_raw_parts(id: usize, generation: u64) -> Self { + Self(crate::data::arena::Index::from_raw_parts(id, generation)) + } + + /// An always-invalid joint handle. + pub fn invalid() -> Self { + Self(crate::data::arena::Index::from_raw_parts( + crate::INVALID_USIZE, + crate::INVALID_U64, + )) + } +} + pub(crate) type JointIndex = usize; pub(crate) type JointGraphEdge = crate::data::graph::Edge<Joint>; @@ -13,7 +38,7 @@ pub(crate) type JointGraphEdge = crate::data::graph::Edge<Joint>; /// A set of joints that can be handled by a physics `World`. pub struct JointSet { joint_ids: Arena<TemporaryInteractionIndex>, // Map joint handles to edge ids on the graph. - joint_graph: InteractionGraph<Joint>, + joint_graph: InteractionGraph<RigidBodyHandle, Joint>, } impl JointSet { @@ -25,29 +50,24 @@ impl JointSet { } } - /// An always-invalid joint handle. - pub fn invalid_handle() -> JointHandle { - JointHandle::from_raw_parts(crate::INVALID_USIZE, crate::INVALID_U64) - } - /// The number of joints on this set. pub fn len(&self) -> usize { self.joint_graph.graph.edges.len() } /// Retrieve the joint graph where edges are joints and nodes are rigid body handles. - pub fn joint_graph(&self) -> &InteractionGraph<Joint> { + pub fn joint_graph(&self) -> &InteractionGraph<RigidBodyHandle, Joint> { &self.joint_graph } /// Is the given joint handle valid? pub fn contains(&self, handle: JointHandle) -> bool { - self.joint_ids.contains(handle) + self.joint_ids.contains(handle.0) } /// Gets the joint with the given handle. pub fn get(&self, handle: JointHandle) -> Option<&Joint> { - let id = self.joint_ids.get(handle)?; + let id = self.joint_ids.get(handle.0)?; self.joint_graph.graph.edge_weight(*id) } @@ -62,7 +82,10 @@ impl JointSet { /// suffer form the ABA problem. pub fn get_unknown_gen(&self, i: usize) -> Option<(&Joint, JointHandle)> { let (id, handle) = self.joint_ids.get_unknown_gen(i)?; - Some((self.joint_graph.graph.edge_weight(*id)?, handle)) + Some(( + self.joint_graph.graph.edge_weight(*id)?, + JointHandle(handle), + )) } /// Iterates through all the joint on this set. @@ -117,7 +140,7 @@ impl JointSet { let joint = Joint { body1, body2, - handle, + handle: JointHandle(handle), #[cfg(feature = "parallel")] constraint_index: 0, #[cfg(feature = "parallel")] @@ -133,11 +156,13 @@ impl JointSet { // NOTE: the body won't have a graph index if it does not // have any joint attached. - if !InteractionGraph::<Joint>::is_graph_index_valid(rb1.joint_graph_index) { + if !InteractionGraph::<RigidBodyHandle, Joint>::is_graph_index_valid(rb1.joint_graph_index) + { rb1.joint_graph_index = self.joint_graph.graph.add_node(joint.body1); } - if !InteractionGraph::<Joint>::is_graph_index_valid(rb2.joint_graph_index) { + if !InteractionGraph::<RigidBodyHandle, Joint>::is_graph_index_valid(rb2.joint_graph_index) + { rb2.joint_graph_index = self.joint_graph.graph.add_node(joint.body2); } @@ -146,7 +171,7 @@ impl JointSet { .add_edge(rb1.joint_graph_index, rb2.joint_graph_index, joint); self.joint_ids[handle] = id; - handle + JointHandle(handle) } /// Retrieve all the joints happening between two active bodies. @@ -191,7 +216,7 @@ impl JointSet { bodies: &mut RigidBodySet, wake_up: bool, ) -> Option<Joint> { - let id = self.joint_ids.remove(handle)?; + let id = self.joint_ids.remove(handle.0)?; let endpoints = self.joint_graph.graph.edge_endpoints(id)?; if wake_up { @@ -207,7 +232,7 @@ impl JointSet { let removed_joint = self.joint_graph.graph.remove_edge(id); if let Some(edge) = self.joint_graph.graph.edge_weight(id) { - self.joint_ids[edge.handle] = id; + self.joint_ids[edge.handle.0] = id; } removed_joint @@ -218,7 +243,7 @@ impl JointSet { deleted_id: RigidBodyGraphIndex, bodies: &mut RigidBodySet, ) { - if InteractionGraph::<()>::is_graph_index_valid(deleted_id) { + if InteractionGraph::<(), ()>::is_graph_index_valid(deleted_id) { // We have to delete each joint one by one in order to: // - Wake-up the attached bodies. // - Update our Handle -> graph edge mapping. @@ -229,12 +254,12 @@ impl JointSet { .map(|e| (e.0, e.1, e.2.handle)) .collect(); for (h1, h2, to_delete_handle) in to_delete { - let to_delete_edge_id = self.joint_ids.remove(to_delete_handle).unwrap(); + let to_delete_edge_id = self.joint_ids.remove(to_delete_handle.0).unwrap(); self.joint_graph.graph.remove_edge(to_delete_edge_id); // Update the id of the edge which took the place of the deleted one. if let Some(j) = self.joint_graph.graph.edge_weight_mut(to_delete_edge_id) { - self.joint_ids[j.handle] = to_delete_edge_id; + self.joint_ids[j.handle.0] = to_delete_edge_id; } // Wake up the attached bodies. |