diff options
Diffstat (limited to 'src/geometry')
| -rw-r--r-- | src/geometry/pair_filter.rs | 138 |
1 files changed, 0 insertions, 138 deletions
diff --git a/src/geometry/pair_filter.rs b/src/geometry/pair_filter.rs deleted file mode 100644 index a30145e..0000000 --- a/src/geometry/pair_filter.rs +++ /dev/null @@ -1,138 +0,0 @@ -use crate::dynamics::RigidBody; -use crate::geometry::{Collider, ColliderHandle, ContactManifold, SolverContact, SolverFlags}; - -/// Context given to custom collision filters to filter-out collisions. -pub struct PairFilterContext<'a> { - /// The first collider involved in the potential collision. - pub rigid_body1: &'a RigidBody, - /// The first collider involved in the potential collision. - pub rigid_body2: &'a RigidBody, - /// The first collider involved in the potential collision. - pub collider_handle1: ColliderHandle, - /// The first collider involved in the potential collision. - pub collider_handle2: ColliderHandle, - /// The first collider involved in the potential collision. - pub collider1: &'a Collider, - /// The first collider involved in the potential collision. - pub collider2: &'a Collider, -} - -pub struct ContactModificationContext<'a> { - /// The first collider involved in the potential collision. - pub rigid_body1: &'a RigidBody, - /// The first collider involved in the potential collision. - pub rigid_body2: &'a RigidBody, - /// The first collider involved in the potential collision. - pub collider_handle1: ColliderHandle, - /// The first collider involved in the potential collision. - pub collider_handle2: ColliderHandle, - /// The first collider involved in the potential collision. - pub collider1: &'a Collider, - /// The first collider involved in the potential collision. - pub collider2: &'a Collider, - /// The contact manifold. - pub manifold: &'a ContactManifold, - /// The solver contacts that can be modified. - pub solver_contacts: &'a mut Vec<SolverContact>, - /// User-defined data attached to the manifold. - // NOTE: we keep this a &'a mut u32 to emphasize the - // fact that this can be modified. - pub user_data: &'a mut u32, -} - -bitflags::bitflags! { - #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] - /// Flags affecting the behavior of the constraints solver for a given contact manifold. - pub struct PhysicsHooksFlags: u32 { - /// If set, Rapier will call `PhysicsHooks::filter_contact_pair` whenever relevant. - const FILTER_CONTACT_PAIR = 0b0001; - /// If set, Rapier will call `PhysicsHooks::filter_intersection_pair` whenever relevant. - const FILTER_INTERSECTION_PAIR = 0b0010; - /// If set, Rapier will call `PhysicsHooks::modify_solver_contact` whenever relevant. - const MODIFY_SOLVER_CONTACTS = 0b0100; - } -} - -/// User-defined functions called by the physics engines during one timestep in order to customize its behavior. -pub trait PhysicsHooks: Send + Sync { - /// The sets of hooks that must be taken into account. - fn active_hooks(&self) -> PhysicsHooksFlags; - - /// Applies the contact pair filter. - /// - /// User-defined filter for potential contact pairs detected by the broad-phase. - /// This can be used to apply custom logic in order to decide whether two colliders - /// should have their contact computed by the narrow-phase, and if these contact - /// should be solved by the constraints solver - /// - /// Note that using a contact pair filter will replace the default contact filtering - /// which consists of preventing contact computation between two non-dynamic bodies. - /// - /// This filtering method is called after taking into account the colliders collision groups. - /// - /// If this returns `None`, then the narrow-phase will ignore this contact pair and - /// not compute any contact manifolds for it. - /// If this returns `Some`, then the narrow-phase will compute contact manifolds for - /// this pair of colliders, and configure them with the returned solver flags. For - /// example, if this returns `Some(SolverFlags::COMPUTE_IMPULSES)` then the contacts - /// will be taken into account by the constraints solver. If this returns - /// `Some(SolverFlags::empty())` then the constraints solver will ignore these - /// contacts. - fn filter_contact_pair(&self, context: &PairFilterContext) -> Option<SolverFlags>; - - /// Applies the intersection pair filter. - /// - /// User-defined filter for potential intersection pairs detected by the broad-phase. - /// - /// This can be used to apply custom logic in order to decide whether two colliders - /// should have their intersection computed by the narrow-phase. - /// - /// Note that using an intersection pair filter will replace the default intersection filtering - /// which consists of preventing intersection computation between two non-dynamic bodies. - /// - /// This filtering method is called after taking into account the colliders collision groups. - /// - /// If this returns `false`, then the narrow-phase will ignore this pair and - /// not compute any intersection information for it. - /// If this return `true` then the narrow-phase will compute intersection - /// information for this pair. - fn filter_intersection_pair(&self, context: &PairFilterContext) -> bool; - - /// Modifies the set of contacts seen by the constraints solver. - /// - /// By default, the content of `solver_contacts` is computed from `manifold.points`. - /// This method will be called on each contact manifold which have the flag `SolverFlags::MODIFY_CONTACTS` set. - /// This method can be used to modify the set of solver contacts seen by the constraints solver: contacts - /// can be removed and modified. - /// - /// Note that if all the contacts have to be ignored by the constraint solver, you may simply - /// do `context.solver_contacts.clear()`. - /// - /// Modifying the solver contacts allow you to achieve various effects, including: - /// - Simulating conveyor belts by setting the `surface_velocity` of a solver contact. - /// - Simulating shapes with multiply materials by modifying the friction and restitution - /// coefficient depending of the features in contacts. - /// - Simulating one-way platforms depending on the contact normal. - /// - /// Each contact manifold is given a `u32` user-defined data that is persistent between - /// timesteps (as long as the contact manifold exists). This user-defined data is initialized - /// as 0 and can be modified in `context.user_data`. - fn modify_solver_contacts(&self, context: &mut ContactModificationContext); -} - -impl PhysicsHooks for () { - /// The sets of hooks that must be taken into account. - fn active_hooks(&self) -> PhysicsHooksFlags { - PhysicsHooksFlags::empty() - } - - fn filter_contact_pair(&self, _: &PairFilterContext) -> Option<SolverFlags> { - None - } - - fn filter_intersection_pair(&self, _: &PairFilterContext) -> bool { - false - } - - fn modify_solver_contacts(&self, _: &mut ContactModificationContext) {} -} |