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-rw-r--r--src/geometry/collider.rs7
-rw-r--r--src/geometry/collider_set.rs4
-rw-r--r--src/geometry/interaction_graph.rs12
-rw-r--r--src/geometry/narrow_phase.rs243
4 files changed, 178 insertions, 88 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index c2adc59..3789cca 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -11,6 +11,7 @@ use ncollide::bounding_volume::AABB;
use std::ops::Deref;
use std::sync::Arc;
+// TODO: move this to its own file.
/// The shape of a collider.
#[derive(Clone)]
pub struct ColliderShape(pub Arc<dyn Shape>);
@@ -206,8 +207,6 @@ pub struct Collider {
pub restitution: f32,
pub(crate) collision_groups: InteractionGroups,
pub(crate) solver_groups: InteractionGroups,
- pub(crate) contact_graph_index: ColliderGraphIndex,
- pub(crate) proximity_graph_index: ColliderGraphIndex,
pub(crate) proxy_index: usize,
/// User-defined data associated to this rigid-body.
pub user_data: u128,
@@ -216,8 +215,6 @@ pub struct Collider {
impl Collider {
pub(crate) fn reset_internal_references(&mut self) {
self.parent = RigidBodySet::invalid_handle();
- self.contact_graph_index = InteractionGraph::<Contact>::invalid_graph_index();
- self.proximity_graph_index = InteractionGraph::<Proximity>::invalid_graph_index();
self.proxy_index = crate::INVALID_USIZE;
}
@@ -533,8 +530,6 @@ impl ColliderBuilder {
parent: RigidBodySet::invalid_handle(),
position: Isometry::identity(),
predicted_position: Isometry::identity(),
- contact_graph_index: InteractionGraph::<Contact>::invalid_graph_index(),
- proximity_graph_index: InteractionGraph::<Proximity>::invalid_graph_index(),
proxy_index: crate::INVALID_USIZE,
collision_groups: self.collision_groups,
solver_groups: self.solver_groups,
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index 60b9225..5411ec1 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -11,8 +11,6 @@ pub type ColliderHandle = crate::data::arena::Index;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub(crate) struct RemovedCollider {
pub handle: ColliderHandle,
- pub(crate) contact_graph_index: ColliderGraphIndex,
- pub(crate) proximity_graph_index: ColliderGraphIndex,
pub(crate) proxy_index: usize,
}
@@ -105,8 +103,6 @@ impl ColliderSet {
*/
let message = RemovedCollider {
handle,
- contact_graph_index: collider.contact_graph_index,
- proximity_graph_index: collider.proximity_graph_index,
proxy_index: collider.proxy_index,
};
diff --git a/src/geometry/interaction_graph.rs b/src/geometry/interaction_graph.rs
index 2abb6d1..cae8095 100644
--- a/src/geometry/interaction_graph.rs
+++ b/src/geometry/interaction_graph.rs
@@ -74,15 +74,9 @@ impl<T> InteractionGraph<T> {
self.graph.node_weight(id).cloned()
}
- /// All the interactions pairs on this graph.
- pub fn interaction_pairs(&self) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, &T)> {
- self.graph.raw_edges().iter().map(move |edge| {
- (
- self.graph[edge.source()],
- self.graph[edge.target()],
- &edge.weight,
- )
- })
+ /// All the interactions on this graph.
+ pub fn interactions(&self) -> impl Iterator<Item = &T> {
+ self.graph.raw_edges().iter().map(move |edge| &edge.weight)
}
/// The interaction between the two collision objects identified by their graph index.
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 059a640..a21d3c6 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -22,17 +22,35 @@ use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGrap
//#[cfg(feature = "simd-is-enabled")]
//use crate::math::{SimdFloat, SIMD_WIDTH};
use crate::data::pubsub::Subscription;
+use crate::data::Coarena;
use crate::ncollide::query::Proximity;
use crate::pipeline::EventHandler;
use std::collections::HashMap;
//use simba::simd::SimdValue;
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, PartialEq, Eq)]
+struct ColliderGraphIndices {
+ contact_graph_index: ColliderGraphIndex,
+ proximity_graph_index: ColliderGraphIndex,
+}
+
+impl ColliderGraphIndices {
+ fn invalid() -> Self {
+ Self {
+ contact_graph_index: InteractionGraph::<ContactPair>::invalid_graph_index(),
+ proximity_graph_index: InteractionGraph::<ProximityPair>::invalid_graph_index(),
+ }
+ }
+}
+
/// The narrow-phase responsible for computing precise contact information between colliders.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
pub struct NarrowPhase {
contact_graph: InteractionGraph<ContactPair>,
proximity_graph: InteractionGraph<ProximityPair>,
+ graph_indices: Coarena<ColliderGraphIndices>,
removed_colliders: Option<Subscription<RemovedCollider>>,
// ball_ball: Vec<usize>, // Workspace: Vec<*mut ContactPair>,
// shape_shape: Vec<usize>, // Workspace: Vec<*mut ContactPair>,
@@ -48,6 +66,7 @@ impl NarrowPhase {
Self {
contact_graph: InteractionGraph::new(),
proximity_graph: InteractionGraph::new(),
+ graph_indices: Coarena::new(),
removed_colliders: None,
// ball_ball: Vec::new(),
// shape_shape: Vec::new(),
@@ -66,14 +85,70 @@ impl NarrowPhase {
&self.proximity_graph
}
- // #[cfg(feature = "parallel")]
- // pub fn contact_pairs(&self) -> &[ContactPair] {
- // &self.contact_graph.interactions
- // }
+ /// All the contacts involving the given collider.
+ pub fn contacts_with(
+ &self,
+ collider: ColliderHandle,
+ ) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
+ let id = self.graph_indices.get(collider)?;
+ Some(self.contact_graph.interactions_with(id.contact_graph_index))
+ }
- // pub fn contact_pairs_mut(&mut self) -> &mut [ContactPair] {
- // &mut self.contact_graph.interactions
- // }
+ /// All the proximities involving the given collider.
+ pub fn proximities_with(
+ &self,
+ collider: ColliderHandle,
+ ) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ProximityPair)>> {
+ let id = self.graph_indices.get(collider)?;
+ Some(
+ self.proximity_graph
+ .interactions_with(id.proximity_graph_index),
+ )
+ }
+
+ /// The contact pair involving two specific colliders.
+ ///
+ /// If this returns `None`, there is no contact between the two colliders.
+ /// If this returns `Some`, then there may be a contact between the two colliders. Check the
+ /// result [`ContactPair::has_any_active_collider`] method to see if there is an actual contact.
+ pub fn contact_pair(
+ &self,
+ collider1: ColliderHandle,
+ collider2: ColliderHandle,
+ ) -> Option<&ContactPair> {
+ let id1 = self.graph_indices.get(collider1)?;
+ let id2 = self.graph_indices.get(collider2)?;
+ self.contact_graph
+ .interaction_pair(id1.contact_graph_index, id2.contact_graph_index)
+ .map(|c| c.2)
+ }
+
+ /// The proximity pair involving two specific colliders.
+ ///
+ /// If this returns `None`, there is no intersection between the two colliders.
+ /// If this returns `Some`, then there may be an intersection between the two colliders. Check the
+ /// value of [`ProximityPair::proximity`] method to see if there is an actual intersection.
+ pub fn proximity_pair(
+ &self,
+ collider1: ColliderHandle,
+ collider2: ColliderHandle,
+ ) -> Option<&ProximityPair> {
+ let id1 = self.graph_indices.get(collider1)?;
+ let id2 = self.graph_indices.get(collider2)?;
+ self.proximity_graph
+ .interaction_pair(id1.proximity_graph_index, id2.proximity_graph_index)
+ .map(|c| c.2)
+ }
+
+ /// All the contact pairs maintained by this narrow-phase.
+ pub fn contact_pairs(&self) -> impl Iterator<Item = &ContactPair> {
+ self.contact_graph.interactions()
+ }
+
+ /// All the proximity pairs maintained by this narrow-phase.
+ pub fn proximity_pairs(&self) -> impl Iterator<Item = &ProximityPair> {
+ self.proximity_graph.interactions()
+ }
// #[cfg(feature = "parallel")]
// pub(crate) fn contact_pairs_vec_mut(&mut self) -> &mut Vec<ContactPair> {
@@ -94,17 +169,20 @@ impl NarrowPhase {
// by the contact/proximity graphs when a node is removed.
let mut prox_id_remap = HashMap::new();
let mut contact_id_remap = HashMap::new();
+ let mut i = 0;
- for i in 0.. {
- if let Some(collider) = colliders.removed_colliders.read_ith(&cursor, i) {
+ while let Some(collider) = colliders.removed_colliders.read_ith(&cursor, i) {
+ // NOTE: if the collider does not have any graph indices currently, there is nothing
+ // to remove in the narrow-phase for this collider.
+ if let Some(graph_idx) = self.graph_indices.get(collider.handle) {
let proximity_graph_id = prox_id_remap
.get(&collider.handle)
.copied()
- .unwrap_or(collider.proximity_graph_index);
+ .unwrap_or(graph_idx.proximity_graph_index);
let contact_graph_id = contact_id_remap
.get(&collider.handle)
.copied()
- .unwrap_or(collider.contact_graph_index);
+ .unwrap_or(graph_idx.contact_graph_index);
self.remove_collider(
proximity_graph_id,
@@ -114,9 +192,9 @@ impl NarrowPhase {
&mut prox_id_remap,
&mut contact_id_remap,
);
- } else {
- break;
}
+
+ i += 1;
}
colliders.removed_colliders.ack(&mut cursor);
@@ -146,7 +224,7 @@ impl NarrowPhase {
// We have to manage the fact that one other collider will
// have its graph index changed because of the node's swap-remove.
if let Some(replacement) = self.proximity_graph.remove_node(proximity_graph_id) {
- if let Some(replacement) = colliders.get_mut(replacement) {
+ if let Some(replacement) = self.graph_indices.get_mut(replacement) {
replacement.proximity_graph_index = proximity_graph_id;
} else {
prox_id_remap.insert(replacement, proximity_graph_id);
@@ -154,7 +232,7 @@ impl NarrowPhase {
}
if let Some(replacement) = self.contact_graph.remove_node(contact_graph_id) {
- if let Some(replacement) = colliders.get_mut(replacement) {
+ if let Some(replacement) = self.graph_indices.get_mut(replacement) {
replacement.contact_graph_index = contact_graph_id;
} else {
contact_id_remap.insert(replacement, contact_graph_id);
@@ -172,69 +250,87 @@ impl NarrowPhase {
for event in broad_phase_events {
match event {
BroadPhasePairEvent::AddPair(pair) => {
- // println!("Adding pair: {:?}", *pair);
if let (Some(co1), Some(co2)) =
- colliders.get2_mut_internal(pair.collider1, pair.collider2)
+ (colliders.get(pair.collider1), colliders.get(pair.collider2))
{
if co1.parent == co2.parent {
// Same parents. Ignore collisions.
continue;
}
- if co1.is_sensor() || co2.is_sensor() {
- let gid1 = co1.proximity_graph_index;
- let gid2 = co2.proximity_graph_index;
+ let (gid1, gid2) = self.graph_indices.ensure_pair_exists(
+ pair.collider1,
+ pair.collider2,
+ ColliderGraphIndices::invalid(),
+ );
+ if co1.is_sensor() || co2.is_sensor() {
// NOTE: the collider won't have a graph index as long
// as it does not interact with anything.
- if !InteractionGraph::<ProximityPair>::is_graph_index_valid(gid1) {
- co1.proximity_graph_index =
+ if !InteractionGraph::<ProximityPair>::is_graph_index_valid(
+ gid1.proximity_graph_index,
+ ) {
+ gid1.proximity_graph_index =
self.proximity_graph.graph.add_node(pair.collider1);
}
- if !InteractionGraph::<ProximityPair>::is_graph_index_valid(gid2) {
- co2.proximity_graph_index =
+ if !InteractionGraph::<ProximityPair>::is_graph_index_valid(
+ gid2.proximity_graph_index,
+ ) {
+ gid2.proximity_graph_index =
self.proximity_graph.graph.add_node(pair.collider2);
}
- if self.proximity_graph.graph.find_edge(gid1, gid2).is_none() {
+ if self
+ .proximity_graph
+ .graph
+ .find_edge(gid1.proximity_graph_index, gid2.proximity_graph_index)
+ .is_none()
+ {
let dispatcher = DefaultProximityDispatcher;
let generator = dispatcher
.dispatch(co1.shape().shape_type(), co2.shape().shape_type());
let interaction =
ProximityPair::new(*pair, generator.0, generator.1);
let _ = self.proximity_graph.add_edge(
- co1.proximity_graph_index,
- co2.proximity_graph_index,
+ gid1.proximity_graph_index,
+ gid2.proximity_graph_index,
interaction,
);
}
} else {
// NOTE: same code as above, but for the contact graph.
// TODO: refactor both pieces of code somehow?
- let gid1 = co1.contact_graph_index;
- let gid2 = co2.contact_graph_index;
// NOTE: the collider won't have a graph index as long
// as it does not interact with anything.
- if !InteractionGraph::<ContactPair>::is_graph_index_valid(gid1) {
- co1.contact_graph_index =
+ if !InteractionGraph::<ContactPair>::is_graph_index_valid(
+ gid1.contact_graph_index,
+ ) {
+ gid1.contact_graph_index =
self.contact_graph.graph.add_node(pair.collider1);
}
- if !InteractionGraph::<ContactPair>::is_graph_index_valid(gid2) {
- co2.contact_graph_index =
+ if !InteractionGraph::<ContactPair>::is_graph_index_valid(
+ gid2.contact_graph_index,
+ ) {
+ gid2.contact_graph_index =
self.contact_graph.graph.add_node(pair.collider2);
}
- if self.contact_graph.graph.find_edge(gid1, gid2).is_none() {
+ if self
+ .contact_graph
+ .graph
+ .find_edge(gid1.contact_graph_index, gid2.contact_graph_index)
+ .is_none()
+ {
let dispatcher = DefaultContactDispatcher;
let generator = dispatcher
.dispatch(co1.shape().shape_type(), co2.shape().shape_type());
let interaction = ContactPair::new(*pair, generator.0, generator.1);
let _ = self.contact_graph.add_edge(
- co1.contact_graph_index,
- co2.contact_graph_index,
+ gid1.contact_graph_index,
+ gid2.contact_graph_index,
interaction,
);
}
@@ -243,41 +339,50 @@ impl NarrowPhase {
}
BroadPhasePairEvent::DeletePair(pair) => {
if let (Some(co1), Some(co2)) =
- colliders.get2_mut_internal(pair.collider1, pair.collider2)
+ (colliders.get(pair.collider1), colliders.get(pair.collider2))
{
- if co1.is_sensor() || co2.is_sensor() {
- let prox_pair = self
- .proximity_graph
- .remove_edge(co1.proximity_graph_index, co2.proximity_graph_index);
-
- // Emit a proximity lost event if we had a proximity before removing the edge.
- if let Some(prox) = prox_pair {
- if prox.proximity != Proximity::Disjoint {
- let prox_event = ProximityEvent::new(
- pair.collider1,
- pair.collider2,
- prox.proximity,
- Proximity::Disjoint,
- );
- events.handle_proximity_event(prox_event)
+ // TODO: could we just unwrap here?
+ // Don't we have the guarantee that we will get a `AddPair` before a `DeletePair`?
+ if let (Some(gid1), Some(gid2)) = (
+ self.graph_indices.get(pair.collider1),
+ self.graph_indices.get(pair.collider2),
+ ) {
+ if co1.is_sensor() || co2.is_sensor() {
+ let prox_pair = self.proximity_graph.remove_edge(
+ gid1.proximity_graph_index,
+ gid2.proximity_graph_index,
+ );
+
+ // Emit a proximity lost event if we had a proximity before removing the edge.
+ if let Some(prox) = prox_pair {
+ if prox.proximity != Proximity::Disjoint {
+ let prox_event = ProximityEvent::new(
+ pair.collider1,
+ pair.collider2,
+ prox.proximity,
+ Proximity::Disjoint,
+ );
+ events.handle_proximity_event(prox_event)
+ }
}
- }
- } else {
- let contact_pair = self
- .contact_graph
- .remove_edge(co1.contact_graph_index, co2.contact_graph_index);
-
- // Emit a contact stopped event if we had a contact before removing the edge.
- // Also wake up the dynamic bodies that were in contact.
- if let Some(ctct) = contact_pair {
- if ctct.has_any_active_contact() {
- bodies.wake_up(co1.parent, true);
- bodies.wake_up(co2.parent, true);
-
- events.handle_contact_event(ContactEvent::Stopped(
- pair.collider1,
- pair.collider2,
- ))
+ } else {
+ let contact_pair = self.contact_graph.remove_edge(
+ gid1.contact_graph_index,
+ gid2.contact_graph_index,
+ );
+
+ // Emit a contact stopped event if we had a contact before removing the edge.
+ // Also wake up the dynamic bodies that were in contact.
+ if let Some(ctct) = contact_pair {
+ if ctct.has_any_active_contact() {
+ bodies.wake_up(co1.parent, true);
+ bodies.wake_up(co2.parent, true);
+
+ events.handle_contact_event(ContactEvent::Stopped(
+ pair.collider1,
+ pair.collider2,
+ ))
+ }
}
}
}
generated by cgit (git 2.34.1) at 2026-02-05 18:31:39 +0000