diff options
Diffstat (limited to 'src/geometry/collider.rs')
| -rw-r--r-- | src/geometry/collider.rs | 266 |
1 files changed, 173 insertions, 93 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 08295c1..0101a09 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -1,11 +1,12 @@ use crate::dynamics::{CoefficientCombineRule, MassProperties, RigidBodyHandle}; use crate::geometry::{ - ColliderBroadPhaseData, ColliderChanges, ColliderGroups, ColliderMassProperties, - ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, ColliderType, - InteractionGroups, SharedShape, SolverFlags, + ActiveCollisionTypes, ColliderBroadPhaseData, ColliderChanges, ColliderFlags, + ColliderMassProps, ColliderMaterial, ColliderParent, ColliderPosition, ColliderShape, + ColliderType, InteractionGroups, SharedShape, }; use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM}; use crate::parry::transformation::vhacd::VHACDParameters; +use crate::pipeline::{ActiveEvents, ActiveHooks}; use na::Unit; use parry::bounding_volume::AABB; use parry::shape::Shape; @@ -18,12 +19,12 @@ use parry::shape::Shape; pub struct Collider { pub(crate) co_type: ColliderType, pub(crate) co_shape: ColliderShape, - pub(crate) co_mprops: ColliderMassProperties, + pub(crate) co_mprops: ColliderMassProps, pub(crate) co_changes: ColliderChanges, - pub(crate) co_parent: ColliderParent, + pub(crate) co_parent: Option<ColliderParent>, pub(crate) co_pos: ColliderPosition, pub(crate) co_material: ColliderMaterial, - pub(crate) co_groups: ColliderGroups, + pub(crate) co_flags: ColliderFlags, pub(crate) co_bf_data: ColliderBroadPhaseData, /// User-defined data associated to this rigid-body. pub user_data: u128, @@ -31,14 +32,13 @@ pub struct Collider { impl Collider { pub(crate) fn reset_internal_references(&mut self) { - self.co_parent.handle = RigidBodyHandle::invalid(); self.co_bf_data.proxy_index = crate::INVALID_U32; self.co_changes = ColliderChanges::all(); } /// The rigid body this collider is attached to. - pub fn parent(&self) -> RigidBodyHandle { - self.co_parent.handle + pub fn parent(&self) -> Option<RigidBodyHandle> { + self.co_parent.map(|parent| parent.handle) } /// Is this collider a sensor? @@ -46,6 +46,46 @@ impl Collider { self.co_type.is_sensor() } + /// The physics hooks enabled for this collider. + pub fn active_hooks(&self) -> ActiveHooks { + self.co_flags.active_hooks + } + + /// Sets the physics hooks enabled for this collider. + pub fn set_active_hooks(&mut self, active_hooks: ActiveHooks) { + self.co_flags.active_hooks = active_hooks; + } + + /// The events enabled for this collider. + pub fn active_events(&self) -> ActiveEvents { + self.co_flags.active_events + } + + /// Sets the events enabled for this collider. + pub fn set_active_events(&mut self, active_events: ActiveEvents) { + self.co_flags.active_events = active_events; + } + + /// The collision types enabled for this collider. + pub fn active_collision_types(&self) -> ActiveCollisionTypes { + self.co_flags.active_collision_types + } + + /// Sets the collision types enabled for this collider. + pub fn set_active_collision_types(&mut self, active_collision_types: ActiveCollisionTypes) { + self.co_flags.active_collision_types = active_collision_types; + } + + /// The friction coefficient of this collider. + pub fn friction(&self) -> Real { + self.co_material.friction + } + + /// Sets the friction coefficient of this collider. + pub fn set_friction(&mut self, coefficient: Real) { + self.co_material.friction = coefficient + } + /// The combine rule used by this collider to combine its friction /// coefficient with the friction coefficient of the other collider it /// is in contact with. @@ -60,6 +100,16 @@ impl Collider { self.co_material.friction_combine_rule = rule; } + /// The restitution coefficient of this collider. + pub fn restitution(&self) -> Real { + self.co_material.restitution + } + + /// Sets the restitution coefficient of this collider. + pub fn set_restitution(&mut self, coefficient: Real) { + self.co_material.restitution = coefficient + } + /// The combine rule used by this collider to combine its restitution /// coefficient with the restitution coefficient of the other collider it /// is in contact with. @@ -86,15 +136,22 @@ impl Collider { } } - #[doc(hidden)] - pub fn set_position_debug(&mut self, position: Isometry<Real>) { - self.co_pos.0 = position; + /// Sets the translational part of this collider's position. + pub fn set_translation(&mut self, translation: Vector<Real>) { + self.co_changes.insert(ColliderChanges::POSITION); + self.co_pos.0.translation.vector = translation; } - /// The position of this collider expressed in the local-space of the rigid-body it is attached to. - #[deprecated(note = "use `.position_wrt_parent()` instead.")] - pub fn delta(&self) -> &Isometry<Real> { - &self.co_parent.pos_wrt_parent + /// Sets the rotational part of this collider's position. + pub fn set_rotation(&mut self, rotation: AngVector<Real>) { + self.co_changes.insert(ColliderChanges::POSITION); + self.co_pos.0.rotation = Rotation::new(rotation); + } + + /// Sets the position of this collider. + pub fn set_position(&mut self, position: Isometry<Real>) { + self.co_changes.insert(ColliderChanges::POSITION); + self.co_pos.0 = position; } /// The world-space position of this collider. @@ -102,40 +159,56 @@ impl Collider { &self.co_pos } + /// The translational part of this rigid-body's position. + pub fn translation(&self) -> &Vector<Real> { + &self.co_pos.0.translation.vector + } + + /// The rotational part of this rigid-body's position. + pub fn rotation(&self) -> &Rotation<Real> { + &self.co_pos.0.rotation + } + /// The position of this collider wrt the body it is attached to. - pub fn position_wrt_parent(&self) -> &Isometry<Real> { - &self.co_parent.pos_wrt_parent + pub fn position_wrt_parent(&self) -> Option<&Isometry<Real>> { + self.co_parent.as_ref().map(|p| &p.pos_wrt_parent) } /// Sets the position of this collider wrt. its parent rigid-body. - pub fn set_position_wrt_parent(&mut self, position: Isometry<Real>) { + /// + /// Panics if the collider is not attached to a rigid-body. + pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) { self.co_changes.insert(ColliderChanges::PARENT); - self.co_parent.pos_wrt_parent = position; + let co_parent = self + .co_parent + .as_mut() + .expect("This collider has no parent."); + co_parent.pos_wrt_parent = pos_wrt_parent; } /// The collision groups used by this collider. pub fn collision_groups(&self) -> InteractionGroups { - self.co_groups.collision_groups + self.co_flags.collision_groups } /// Sets the collision groups of this collider. pub fn set_collision_groups(&mut self, groups: InteractionGroups) { - if self.co_groups.collision_groups != groups { + if self.co_flags.collision_groups != groups { self.co_changes.insert(ColliderChanges::GROUPS); - self.co_groups.collision_groups = groups; + self.co_flags.collision_groups = groups; } } /// The solver groups used by this collider. pub fn solver_groups(&self) -> InteractionGroups { - self.co_groups.solver_groups + self.co_flags.solver_groups } /// Sets the solver groups of this collider. pub fn set_solver_groups(&mut self, groups: InteractionGroups) { - if self.co_groups.solver_groups != groups { + if self.co_flags.solver_groups != groups { self.co_changes.insert(ColliderChanges::GROUPS); - self.co_groups.solver_groups = groups; + self.co_flags.solver_groups = groups; } } @@ -147,8 +220,8 @@ impl Collider { /// The density of this collider, if set. pub fn density(&self) -> Option<Real> { match &self.co_mprops { - ColliderMassProperties::Density(density) => Some(*density), - ColliderMassProperties::MassProperties(_) => None, + ColliderMassProps::Density(density) => Some(*density), + ColliderMassProps::MassProperties(_) => None, } } @@ -188,8 +261,8 @@ impl Collider { /// Compute the local-space mass properties of this collider. pub fn mass_properties(&self) -> MassProperties { match &self.co_mprops { - ColliderMassProperties::Density(density) => self.co_shape.mass_properties(*density), - ColliderMassProperties::MassProperties(mass_properties) => **mass_properties, + ColliderMassProps::Density(density) => self.co_shape.mass_properties(*density), + ColliderMassProps::MassProperties(mass_properties) => **mass_properties, } } } @@ -213,13 +286,16 @@ pub struct ColliderBuilder { pub restitution: Real, /// The rule used to combine two restitution coefficients. pub restitution_combine_rule: CoefficientCombineRule, - /// The position of this collider relative to the local frame of the rigid-body it is attached to. - pub pos_wrt_parent: Isometry<Real>, + /// The position of this collider. + pub position: Isometry<Real>, /// Is this collider a sensor? pub is_sensor: bool, - /// Do we have to always call the contact modifier - /// on this collider? - pub modify_solver_contacts: bool, + /// Contact pairs enabled for this collider. + pub active_collision_types: ActiveCollisionTypes, + /// Physics hooks enabled for this collider. + pub active_hooks: ActiveHooks, + /// Events enabled for this collider. + pub active_events: ActiveEvents, /// The user-data of the collider being built. pub user_data: u128, /// The collision groups for the collider being built. @@ -237,14 +313,16 @@ impl ColliderBuilder { mass_properties: None, friction: Self::default_friction(), restitution: 0.0, - pos_wrt_parent: Isometry::identity(), + position: Isometry::identity(), is_sensor: false, user_data: 0, collision_groups: InteractionGroups::all(), solver_groups: InteractionGroups::all(), friction_combine_rule: CoefficientCombineRule::Average, restitution_combine_rule: CoefficientCombineRule::Average, - modify_solver_contacts: false, + active_collision_types: ActiveCollisionTypes::default(), + active_hooks: ActiveHooks::empty(), + active_events: ActiveEvents::empty(), } } @@ -489,6 +567,11 @@ impl ColliderBuilder { 0.5 } + /// The default density used by the collider builder. + pub fn default_density() -> Real { + 1.0 + } + /// Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder. pub fn user_data(mut self, data: u128) -> Self { self.user_data = data; @@ -522,10 +605,21 @@ impl ColliderBuilder { self } - /// If set to `true` then the physics hooks will always run to modify - /// contacts involving this collider. - pub fn modify_solver_contacts(mut self, modify_solver_contacts: bool) -> Self { - self.modify_solver_contacts = modify_solver_contacts; + /// The set of physics hooks enabled for this collider. + pub fn active_hooks(mut self, active_hooks: ActiveHooks) -> Self { + self.active_hooks = active_hooks; + self + } + + /// The set of events enabled for this collider. + pub fn active_events(mut self, active_events: ActiveEvents) -> Self { + self.active_events = active_events; + self + } + + /// The set of active collision types for this collider. + pub fn active_collision_types(mut self, active_collision_types: ActiveCollisionTypes) -> Self { + self.active_collision_types = active_collision_types; self } @@ -571,71 +665,61 @@ impl ColliderBuilder { self } - /// Sets the initial translation of the collider to be created, - /// relative to the rigid-body it is attached to. - #[cfg(feature = "dim2")] - pub fn translation(mut self, x: Real, y: Real) -> Self { - self.pos_wrt_parent.translation.x = x; - self.pos_wrt_parent.translation.y = y; - self - } - - /// Sets the initial translation of the collider to be created, - /// relative to the rigid-body it is attached to. - #[cfg(feature = "dim3")] - pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self { - self.pos_wrt_parent.translation.x = x; - self.pos_wrt_parent.translation.y = y; - self.pos_wrt_parent.translation.z = z; + /// Sets the initial translation of the collider to be created. + /// + /// If the collider will be attached to a rigid-body, this sets the translation relative to the + /// rigid-body it will be attached to. + pub fn translation(mut self, translation: Vector<Real>) -> Self { + self.position.translation.vector = translation; self } - /// Sets the initial orientation of the collider to be created, - /// relative to the rigid-body it is attached to. + /// Sets the initial orientation of the collider to be created. + /// + /// If the collider will be attached to a rigid-body, this sets the orientation relative to the + /// rigid-body it will be attached to. pub fn rotation(mut self, angle: AngVector<Real>) -> Self { - self.pos_wrt_parent.rotation = Rotation::new(angle); + self.position.rotation = Rotation::new(angle); self } - /// Sets the initial position (translation and orientation) of the collider to be created, - /// relative to the rigid-body it is attached to. - pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self { - self.pos_wrt_parent = pos; + /// Sets the initial position (translation and orientation) of the collider to be created. + /// + /// If the collider will be attached to a rigid-body, this sets the position relative + /// to the rigid-body it will be attached to. + pub fn position(mut self, pos: Isometry<Real>) -> Self { + self.position = pos; self } /// Sets the initial position (translation and orientation) of the collider to be created, /// relative to the rigid-body it is attached to. - #[deprecated(note = "Use `.position_wrt_parent` instead.")] - pub fn position(mut self, pos: Isometry<Real>) -> Self { - self.pos_wrt_parent = pos; + #[deprecated(note = "Use `.position` instead.")] + pub fn position_wrt_parent(mut self, pos: Isometry<Real>) -> Self { + self.position = pos; self } /// Set the position of this collider in the local-space of the rigid-body it is attached to. - #[deprecated(note = "Use `.position_wrt_parent` instead.")] + #[deprecated(note = "Use `.position` instead.")] pub fn delta(mut self, delta: Isometry<Real>) -> Self { - self.pos_wrt_parent = delta; + self.position = delta; self } /// Builds a new collider attached to the given rigid-body. pub fn build(&self) -> Collider { - let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_groups, co_material, co_mprops) = + let (co_changes, co_pos, co_bf_data, co_shape, co_type, co_material, co_flags, co_mprops) = self.components(); - let co_parent = ColliderParent { - pos_wrt_parent: co_pos.0, - handle: RigidBodyHandle::invalid(), - }; Collider { co_shape, co_mprops, co_material, - co_parent, + co_parent: None, co_changes, co_pos, co_bf_data, - co_groups, + co_flags, co_type, user_data: self.user_data, } @@ -650,24 +734,18 @@ impl ColliderBuilder { ColliderBroadPhaseData, ColliderShape, ColliderType, - ColliderGroups, ColliderMaterial, - ColliderMassProperties, + ColliderFlags, + ColliderMassProps, ) { let mass_info = if let Some(mp) = self.mass_properties { - ColliderMassProperties::MassProperties(Box::new(mp)) + ColliderMassProps::MassProperties(Box::new(mp)) } else { - let default_density = if self.is_sensor { 0.0 } else { 1.0 }; + let default_density = Self::default_density(); let density = self.density.unwrap_or(default_density); - ColliderMassProperties::Density(density) + ColliderMassProps::Density(density) }; - let mut solver_flags = SolverFlags::default(); - solver_flags.set( - SolverFlags::MODIFY_SOLVER_CONTACTS, - self.modify_solver_contacts, - ); - let co_shape = self.shape.clone(); let co_mprops = mass_info; let co_material = ColliderMaterial { @@ -675,15 +753,17 @@ impl ColliderBuilder { restitution: self.restitution, friction_combine_rule: self.friction_combine_rule, restitution_combine_rule: self.restitution_combine_rule, - solver_flags, }; - let co_changes = ColliderChanges::all(); - let co_pos = ColliderPosition(self.pos_wrt_parent); - let co_bf_data = ColliderBroadPhaseData::default(); - let co_groups = ColliderGroups { + let co_flags = ColliderFlags { collision_groups: self.collision_groups, solver_groups: self.solver_groups, + active_collision_types: self.active_collision_types, + active_hooks: self.active_hooks, + active_events: self.active_events, }; + let co_changes = ColliderChanges::all(); + let co_pos = ColliderPosition(self.position); + let co_bf_data = ColliderBroadPhaseData::default(); let co_type = if self.is_sensor { ColliderType::Sensor } else { @@ -696,8 +776,8 @@ impl ColliderBuilder { co_bf_data, co_shape, co_type, - co_groups, co_material, + co_flags, co_mprops, ) } |