diff options
Diffstat (limited to 'src/dynamics/rigid_body_set.rs')
| -rw-r--r-- | src/dynamics/rigid_body_set.rs | 133 |
1 files changed, 81 insertions, 52 deletions
diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs index b8667bc..36cf4d3 100644 --- a/src/dynamics/rigid_body_set.rs +++ b/src/dynamics/rigid_body_set.rs @@ -3,11 +3,45 @@ use rayon::prelude::*; use crate::data::arena::Arena; use crate::dynamics::{Joint, JointSet, RigidBody, RigidBodyChanges}; -use crate::geometry::{ColliderHandle, ColliderSet, InteractionGraph, NarrowPhase}; +use crate::geometry::{ColliderSet, InteractionGraph, NarrowPhase}; +use parry::partitioning::IndexedData; use std::ops::{Index, IndexMut}; /// The unique handle of a rigid body added to a `RigidBodySet`. -pub type RigidBodyHandle = crate::data::arena::Index; +#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] +#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[repr(transparent)] +pub struct RigidBodyHandle(pub(crate) crate::data::arena::Index); + +impl RigidBodyHandle { + /// 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 rigid-body handle. + pub fn invalid() -> Self { + Self(crate::data::arena::Index::from_raw_parts( + crate::INVALID_USIZE, + crate::INVALID_U64, + )) + } +} + +impl IndexedData for RigidBodyHandle { + fn default() -> Self { + Self(IndexedData::default()) + } + + fn index(&self) -> usize { + self.0.index() + } +} #[derive(Copy, Clone, Debug, PartialEq, Eq)] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] @@ -20,13 +54,10 @@ pub struct BodyPair { } impl BodyPair { - pub(crate) fn new(body1: RigidBodyHandle, body2: RigidBodyHandle) -> Self { + /// Builds a new pair of rigid-body handles. + pub fn new(body1: RigidBodyHandle, body2: RigidBodyHandle) -> Self { BodyPair { body1, body2 } } - - pub(crate) fn swap(self) -> Self { - Self::new(self.body2, self.body1) - } } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] @@ -70,11 +101,6 @@ impl RigidBodySet { } } - /// An always-invalid rigid-body handle. - pub fn invalid_handle() -> RigidBodyHandle { - RigidBodyHandle::from_raw_parts(crate::INVALID_USIZE, crate::INVALID_U64) - } - /// The number of rigid bodies on this set. pub fn len(&self) -> usize { self.bodies.len() @@ -82,7 +108,7 @@ impl RigidBodySet { /// Is the given body handle valid? pub fn contains(&self, handle: RigidBodyHandle) -> bool { - self.bodies.contains(handle) + self.bodies.contains(handle.0) } /// Insert a rigid body into this set and retrieve its handle. @@ -92,10 +118,10 @@ impl RigidBodySet { rb.reset_internal_references(); rb.changes.set(RigidBodyChanges::all(), true); - let handle = self.bodies.insert(rb); + let handle = RigidBodyHandle(self.bodies.insert(rb)); self.modified_bodies.push(handle); - let rb = &mut self.bodies[handle]; + let rb = &mut self.bodies[handle.0]; if rb.is_kinematic() { rb.active_set_id = self.active_kinematic_set.len(); @@ -112,7 +138,7 @@ impl RigidBodySet { colliders: &mut ColliderSet, joints: &mut JointSet, ) -> Option<RigidBody> { - let rb = self.bodies.remove(handle)?; + let rb = self.bodies.remove(handle.0)?; /* * Update active sets. */ @@ -123,7 +149,7 @@ impl RigidBodySet { active_set.swap_remove(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; + self.bodies[replacement.0].active_set_id = rb.active_set_id; } } } @@ -152,7 +178,7 @@ impl RigidBodySet { /// If `strong` is `true` then it is assured that the rigid-body will /// remain awake during multiple subsequent timesteps. pub fn wake_up(&mut self, handle: RigidBodyHandle, strong: bool) { - if let Some(rb) = self.bodies.get_mut(handle) { + if let Some(rb) = self.bodies.get_mut(handle.0) { // TODO: what about kinematic bodies? if rb.is_dynamic() { rb.wake_up(strong); @@ -175,7 +201,9 @@ impl RigidBodySet { /// Using this is discouraged in favor of `self.get(handle)` which does not /// suffer form the ABA problem. pub fn get_unknown_gen(&self, i: usize) -> Option<(&RigidBody, RigidBodyHandle)> { - self.bodies.get_unknown_gen(i) + self.bodies + .get_unknown_gen(i) + .map(|(b, h)| (b, RigidBodyHandle(h))) } /// Gets a mutable reference to the rigid-body with the given handle without a known generation. @@ -191,19 +219,19 @@ impl RigidBodySet { let result = self.bodies.get_unknown_gen_mut(i)?; if !self.modified_all_bodies && !result.0.changes.contains(RigidBodyChanges::MODIFIED) { result.0.changes = RigidBodyChanges::MODIFIED; - self.modified_bodies.push(result.1); + self.modified_bodies.push(RigidBodyHandle(result.1)); } - Some(result) + Some((result.0, RigidBodyHandle(result.1))) } /// Gets the rigid-body with the given handle. pub fn get(&self, handle: RigidBodyHandle) -> Option<&RigidBody> { - self.bodies.get(handle) + self.bodies.get(handle.0) } /// Gets a mutable reference to the rigid-body with the given handle. pub fn get_mut(&mut self, handle: RigidBodyHandle) -> Option<&mut RigidBody> { - let result = self.bodies.get_mut(handle)?; + let result = self.bodies.get_mut(handle.0)?; if !self.modified_all_bodies && !result.changes.contains(RigidBodyChanges::MODIFIED) { result.changes = RigidBodyChanges::MODIFIED; self.modified_bodies.push(handle); @@ -212,7 +240,7 @@ impl RigidBodySet { } pub(crate) fn get_mut_internal(&mut self, handle: RigidBodyHandle) -> Option<&mut RigidBody> { - self.bodies.get_mut(handle) + self.bodies.get_mut(handle.0) } pub(crate) fn get2_mut_internal( @@ -220,19 +248,19 @@ impl RigidBodySet { h1: RigidBodyHandle, h2: RigidBodyHandle, ) -> (Option<&mut RigidBody>, Option<&mut RigidBody>) { - self.bodies.get2_mut(h1, h2) + self.bodies.get2_mut(h1.0, h2.0) } /// Iterates through all the rigid-bodies on this set. pub fn iter(&self) -> impl Iterator<Item = (RigidBodyHandle, &RigidBody)> { - self.bodies.iter() + self.bodies.iter().map(|(h, b)| (RigidBodyHandle(h), b)) } /// Iterates mutably through all the rigid-bodies on this set. pub fn iter_mut(&mut self) -> impl Iterator<Item = (RigidBodyHandle, &mut RigidBody)> { self.modified_bodies.clear(); self.modified_all_bodies = true; - self.bodies.iter_mut() + self.bodies.iter_mut().map(|(h, b)| (RigidBodyHandle(h), b)) } /// Iter through all the active kinematic rigid-bodies on this set. @@ -242,7 +270,7 @@ impl RigidBodySet { let bodies: &'a _ = &self.bodies; self.active_kinematic_set .iter() - .filter_map(move |h| Some((*h, bodies.get(*h)?))) + .filter_map(move |h| Some((*h, bodies.get(h.0)?))) } /// Iter through all the active dynamic rigid-bodies on this set. @@ -252,7 +280,7 @@ impl RigidBodySet { let bodies: &'a _ = &self.bodies; self.active_dynamic_set .iter() - .filter_map(move |h| Some((*h, bodies.get(*h)?))) + .filter_map(move |h| Some((*h, bodies.get(h.0)?))) } #[cfg(not(feature = "parallel"))] @@ -264,7 +292,7 @@ impl RigidBodySet { let bodies: &'a _ = &self.bodies; self.active_dynamic_set[island_range] .iter() - .filter_map(move |h| Some((*h, bodies.get(*h)?))) + .filter_map(move |h| Some((*h, bodies.get(h.0)?))) } #[inline(always)] @@ -273,13 +301,13 @@ impl RigidBodySet { mut f: impl FnMut(RigidBodyHandle, &mut RigidBody), ) { for handle in &self.active_dynamic_set { - if let Some(rb) = self.bodies.get_mut(*handle) { + if let Some(rb) = self.bodies.get_mut(handle.0) { f(*handle, rb) } } for handle in &self.active_kinematic_set { - if let Some(rb) = self.bodies.get_mut(*handle) { + if let Some(rb) = self.bodies.get_mut(handle.0) { f(*handle, rb) } } @@ -291,7 +319,7 @@ impl RigidBodySet { mut f: impl FnMut(RigidBodyHandle, &mut RigidBody), ) { for handle in &self.active_dynamic_set { - if let Some(rb) = self.bodies.get_mut(*handle) { + if let Some(rb) = self.bodies.get_mut(handle.0) { f(*handle, rb) } } @@ -303,7 +331,7 @@ impl RigidBodySet { mut f: impl FnMut(RigidBodyHandle, &mut RigidBody), ) { for handle in &self.active_kinematic_set { - if let Some(rb) = self.bodies.get_mut(*handle) { + if let Some(rb) = self.bodies.get_mut(handle.0) { f(*handle, rb) } } @@ -318,7 +346,7 @@ impl RigidBodySet { ) { let island_range = self.active_islands[island_id]..self.active_islands[island_id + 1]; for handle in &self.active_dynamic_set[island_range] { - if let Some(rb) = self.bodies.get_mut(*handle) { + if let Some(rb) = self.bodies.get_mut(handle.0) { f(*handle, rb) } } @@ -342,7 +370,7 @@ impl RigidBodySet { || bodies.load(Ordering::Relaxed), |bodies, handle| { let bodies: &mut Arena<RigidBody> = unsafe { std::mem::transmute(*bodies) }; - if let Some(rb) = bodies.get_mut(*handle) { + if let Some(rb) = bodies.get_mut(handle.0) { f(*handle, rb) } }, @@ -405,7 +433,7 @@ impl RigidBodySet { for (handle, rb) in self.bodies.iter_mut() { Self::maintain_one( colliders, - handle, + RigidBodyHandle(handle), rb, &mut self.modified_inactive_set, &mut self.active_kinematic_set, @@ -414,9 +442,10 @@ impl RigidBodySet { } self.modified_bodies.clear(); + self.modified_all_bodies = false; } else { for handle in self.modified_bodies.drain(..) { - if let Some(rb) = self.bodies.get_mut(handle) { + if let Some(rb) = self.bodies.get_mut(handle.0) { Self::maintain_one( colliders, handle, @@ -434,7 +463,7 @@ impl RigidBodySet { &mut self, colliders: &ColliderSet, narrow_phase: &NarrowPhase, - joint_graph: &InteractionGraph<Joint>, + joint_graph: &InteractionGraph<RigidBodyHandle, Joint>, min_island_size: usize, ) { assert!( @@ -454,7 +483,7 @@ impl RigidBodySet { // does not seem to affect performances nor stability. However it makes // debugging slightly nicer so we keep this rev. for h in self.active_dynamic_set.drain(..).rev() { - let rb = &mut self.bodies[h]; + let rb = &mut self.bodies[h.0]; rb.update_energy(); if rb.activation.energy <= rb.activation.threshold { // Mark them as sleeping for now. This will @@ -469,18 +498,18 @@ impl RigidBodySet { // Read all the contacts and push objects touching touching this rigid-body. #[inline(always)] - fn push_contacting_colliders( + fn push_contacting_bodies( rb: &RigidBody, colliders: &ColliderSet, narrow_phase: &NarrowPhase, - stack: &mut Vec<ColliderHandle>, + stack: &mut Vec<RigidBodyHandle>, ) { for collider_handle in &rb.colliders { if let Some(contacts) = narrow_phase.contacts_with(*collider_handle) { for inter in contacts { for manifold in &inter.2.manifolds { - if manifold.num_active_contacts() > 0 { - let other = crate::utils::other_handle( + if !manifold.data.solver_contacts.is_empty() { + let other = crate::utils::select_other( (inter.0, inter.1), *collider_handle, ); @@ -497,7 +526,7 @@ impl RigidBodySet { // Now iterate on all active kinematic bodies and push all the bodies // touching them to the stack so they can be woken up. for h in self.active_kinematic_set.iter() { - let rb = &self.bodies[*h]; + let rb = &self.bodies[h.0]; if !rb.is_moving() { // If the kinematic body does not move, it does not have @@ -505,7 +534,7 @@ impl RigidBodySet { continue; } - push_contacting_colliders(rb, colliders, narrow_phase, &mut self.stack); + push_contacting_bodies(rb, colliders, narrow_phase, &mut self.stack); } // println!("Selection: {}", instant::now() - t); @@ -520,7 +549,7 @@ impl RigidBodySet { let mut island_marker = self.stack.len().max(1) - 1; while let Some(handle) = self.stack.pop() { - let rb = &mut self.bodies[handle]; + let rb = &mut self.bodies[handle.0]; if rb.active_set_timestamp == self.active_set_timestamp || !rb.is_dynamic() { // We already visited this body and its neighbors. @@ -548,10 +577,10 @@ impl RigidBodySet { // Transmit the active state to all the rigid-bodies with colliders // in contact or joined with this collider. - push_contacting_colliders(rb, colliders, narrow_phase, &mut self.stack); + push_contacting_bodies(rb, colliders, narrow_phase, &mut self.stack); for inter in joint_graph.interactions_with(rb.joint_graph_index) { - let other = crate::utils::other_handle((inter.0, inter.1), handle); + let other = crate::utils::select_other((inter.0, inter.1), handle); self.stack.push(other); } } @@ -566,7 +595,7 @@ impl RigidBodySet { // Actually put to sleep bodies which have not been detected as awake. // let t = instant::now(); for h in &self.can_sleep { - let b = &mut self.bodies[*h]; + let b = &mut self.bodies[h.0]; if b.activation.sleeping { b.sleep(); } @@ -579,12 +608,12 @@ impl Index<RigidBodyHandle> for RigidBodySet { type Output = RigidBody; fn index(&self, index: RigidBodyHandle) -> &RigidBody { - &self.bodies[index] + &self.bodies[index.0] } } impl IndexMut<RigidBodyHandle> for RigidBodySet { fn index_mut(&mut self, index: RigidBodyHandle) -> &mut RigidBody { - &mut self.bodies[index] + &mut self.bodies[index.0] } } |