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-rw-r--r--src/geometry/broad_phase_multi_sap.rs4
-rw-r--r--src/geometry/collider.rs42
-rw-r--r--src/geometry/collider_set.rs6
-rw-r--r--src/geometry/contact.rs24
-rw-r--r--src/geometry/contact_generator/ball_polygon_contact_generator.rs1
-rw-r--r--src/geometry/contact_generator/cuboid_polygon_contact_generator.rs1
-rw-r--r--src/geometry/narrow_phase.rs7
-rw-r--r--src/geometry/proximity_detector/ball_polygon_proximity_detector.rs1
-rw-r--r--src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs1
9 files changed, 74 insertions, 13 deletions
diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs
index 0505e21..054fccf 100644
--- a/src/geometry/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap.rs
@@ -662,7 +662,7 @@ mod test {
let rb = RigidBodyBuilder::new_dynamic().build();
let co = ColliderBuilder::ball(0.5).build();
let hrb = bodies.insert(rb);
- let hco = colliders.insert(co, hrb, &mut bodies);
+ colliders.insert(co, hrb, &mut bodies);
broad_phase.update_aabbs(0.0, &bodies, &mut colliders);
@@ -681,7 +681,7 @@ mod test {
let rb = RigidBodyBuilder::new_dynamic().build();
let co = ColliderBuilder::ball(0.5).build();
let hrb = bodies.insert(rb);
- let hco = colliders.insert(co, hrb, &mut bodies);
+ colliders.insert(co, hrb, &mut bodies);
// Make sure the proxy handles is recycled properly.
broad_phase.update_aabbs(0.0, &bodies, &mut colliders);
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 2457212..aed76c8 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -3,7 +3,7 @@ use crate::geometry::{
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Polygon,
Proximity, Triangle, Trimesh,
};
-use crate::math::{Isometry, Point, Vector};
+use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
use na::Point3;
use ncollide::bounding_volume::{HasBoundingVolume, AABB};
use num::Zero;
@@ -150,6 +150,7 @@ impl Collider {
}
/// 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<f32> {
&self.delta
}
@@ -159,6 +160,11 @@ impl Collider {
&self.position
}
+ /// The position of this collider wrt the body it is attached to.
+ pub fn position_wrt_parent(&self) -> &Isometry<f32> {
+ &self.delta
+ }
+
/// The density of this collider.
pub fn density(&self) -> f32 {
self.density
@@ -347,7 +353,41 @@ 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: f32, y: f32) -> Self {
+ self.delta.translation.x = x;
+ self.delta.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: f32, y: f32, z: f32) -> Self {
+ self.delta.translation.x = x;
+ self.delta.translation.y = y;
+ self.delta.translation.z = z;
+ self
+ }
+
+ /// Sets the initial orientation of the collider to be created,
+ /// relative to the rigid-body it is attached to.
+ pub fn rotation(mut self, angle: AngVector<f32>) -> Self {
+ self.delta.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(mut self, pos: Isometry<f32>) -> Self {
+ self.delta = pos;
+ self
+ }
+
/// Set the position of this collider in the local-space of the rigid-body it is attached to.
+ #[deprecated(note = "Use `.position` instead.")]
pub fn delta(mut self, delta: Isometry<f32>) -> Self {
self.delta = delta;
self
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index 73d4a06..22bba1b 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -47,7 +47,6 @@ impl ColliderSet {
parent_handle: RigidBodyHandle,
bodies: &mut RigidBodySet,
) -> ColliderHandle {
- let mass_properties = coll.mass_properties();
coll.parent = parent_handle;
let parent = bodies
.get_mut_internal(parent_handle)
@@ -55,9 +54,8 @@ impl ColliderSet {
coll.position = parent.position * coll.delta;
coll.predicted_position = parent.predicted_position * coll.delta;
let handle = self.colliders.insert(coll);
- parent.colliders.push(handle);
- parent.mass_properties += mass_properties;
- parent.update_world_mass_properties();
+ let coll = self.colliders.get(handle).unwrap();
+ parent.add_collider_internal(handle, &coll);
bodies.activate(parent_handle);
handle
}
diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs
index 0beec0a..7e235c2 100644
--- a/src/geometry/contact.rs
+++ b/src/geometry/contact.rs
@@ -273,16 +273,21 @@ pub struct ContactManifold {
/// The pair of subshapes involved in this contact manifold.
pub subshape_index_pair: (usize, usize),
pub(crate) warmstart_multiplier: f32,
- // We put the friction and restitution here because
- // this avoids reading the colliders inside of the
+ // The two following are set by the constraints solver.
+ pub(crate) constraint_index: usize,
+ pub(crate) position_constraint_index: usize,
+ // We put the following fields here to avoids reading the colliders inside of the
// contact preparation method.
/// The friction coefficient for of all the contacts on this contact manifold.
pub friction: f32,
/// The restitution coefficient for all the contacts on this contact manifold.
pub restitution: f32,
- // The following are set by the constraints solver.
- pub(crate) constraint_index: usize,
- pub(crate) position_constraint_index: usize,
+ /// The relative position between the first collider and its parent at the time the
+ /// contact points were generated.
+ pub delta1: Isometry<f32>,
+ /// The relative position between the second collider and its parent at the time the
+ /// contact points were generated.
+ pub delta2: Isometry<f32>,
}
impl ContactManifold {
@@ -290,6 +295,8 @@ impl ContactManifold {
pair: ColliderPair,
subshapes: (usize, usize),
body_pair: BodyPair,
+ delta1: Isometry<f32>,
+ delta2: Isometry<f32>,
friction: f32,
restitution: f32,
) -> ContactManifold {
@@ -308,6 +315,8 @@ impl ContactManifold {
warmstart_multiplier: Self::min_warmstart_multiplier(),
friction,
restitution,
+ delta1,
+ delta2,
constraint_index: 0,
position_constraint_index: 0,
}
@@ -329,6 +338,8 @@ impl ContactManifold {
warmstart_multiplier: self.warmstart_multiplier,
friction: self.friction,
restitution: self.restitution,
+ delta1: self.delta1,
+ delta2: self.delta2,
constraint_index: self.constraint_index,
position_constraint_index: self.position_constraint_index,
}
@@ -349,6 +360,8 @@ impl ContactManifold {
pair,
(subshape1, subshape2),
BodyPair::new(coll1.parent, coll2.parent),
+ *coll1.position_wrt_parent(),
+ *coll2.position_wrt_parent(),
(coll1.friction + coll2.friction) * 0.5,
(coll1.restitution + coll2.restitution) * 0.5,
)
@@ -391,6 +404,7 @@ impl ContactManifold {
self.pair = self.pair.swap();
self.body_pair = self.body_pair.swap();
self.subshape_index_pair = (self.subshape_index_pair.1, self.subshape_index_pair.0);
+ std::mem::swap(&mut self.delta1, &mut self.delta2);
}
pub(crate) fn update_warmstart_multiplier(&mut self) {
diff --git a/src/geometry/contact_generator/ball_polygon_contact_generator.rs b/src/geometry/contact_generator/ball_polygon_contact_generator.rs
index e69de29..8b13789 100644
--- a/src/geometry/contact_generator/ball_polygon_contact_generator.rs
+++ b/src/geometry/contact_generator/ball_polygon_contact_generator.rs
@@ -0,0 +1 @@
+
diff --git a/src/geometry/contact_generator/cuboid_polygon_contact_generator.rs b/src/geometry/contact_generator/cuboid_polygon_contact_generator.rs
index e69de29..8b13789 100644
--- a/src/geometry/contact_generator/cuboid_polygon_contact_generator.rs
+++ b/src/geometry/contact_generator/cuboid_polygon_contact_generator.rs
@@ -0,0 +1 @@
+
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 3eb2c30..1a36511 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -96,7 +96,7 @@ impl NarrowPhase {
}
// We have to manage the fact that one other collider will
- // hive its graph index changed because of the node's swap-remove.
+ // have its graph index changed because of the node's swap-remove.
if let Some(replacement) = self
.proximity_graph
.remove_node(proximity_graph_id)
@@ -129,6 +129,11 @@ impl NarrowPhase {
if let (Some(co1), Some(co2)) =
colliders.get2_mut_internal(pair.collider1, 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;
diff --git a/src/geometry/proximity_detector/ball_polygon_proximity_detector.rs b/src/geometry/proximity_detector/ball_polygon_proximity_detector.rs
index e69de29..8b13789 100644
--- a/src/geometry/proximity_detector/ball_polygon_proximity_detector.rs
+++ b/src/geometry/proximity_detector/ball_polygon_proximity_detector.rs
@@ -0,0 +1 @@
+
diff --git a/src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs
index e69de29..8b13789 100644
--- a/src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs
+++ b/src/geometry/proximity_detector/cuboid_polygon_proximity_detector.rs
@@ -0,0 +1 @@
+
generated by cgit (git 2.34.1) at 2026-02-05 16:17:10 +0000