diff options
Diffstat (limited to 'src/pipeline/user_changes.rs')
| -rw-r--r-- | src/pipeline/user_changes.rs | 98 |
1 files changed, 33 insertions, 65 deletions
diff --git a/src/pipeline/user_changes.rs b/src/pipeline/user_changes.rs index 2c03f1c..b999f0f 100644 --- a/src/pipeline/user_changes.rs +++ b/src/pipeline/user_changes.rs @@ -1,28 +1,15 @@ -use crate::data::{BundleSet, ComponentSet, ComponentSetMut, ComponentSetOption}; use crate::dynamics::{ - IslandManager, RigidBodyActivation, RigidBodyChanges, RigidBodyColliders, RigidBodyHandle, - RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyType, -}; -use crate::geometry::{ - ColliderChanges, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, - ColliderShape, + IslandManager, RigidBodyActivation, RigidBodyChanges, RigidBodyHandle, RigidBodyIds, + RigidBodyPosition, RigidBodySet, RigidBodyType, }; +use crate::geometry::{ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet}; use parry::utils::hashmap::HashMap; -pub(crate) fn handle_user_changes_to_colliders<Bodies, Colliders>( - bodies: &mut Bodies, - colliders: &mut Colliders, +pub(crate) fn handle_user_changes_to_colliders( + bodies: &mut RigidBodySet, + colliders: &mut ColliderSet, modified_colliders: &[ColliderHandle], -) where - Bodies: ComponentSet<RigidBodyPosition> - + ComponentSet<RigidBodyColliders> - + ComponentSetMut<RigidBodyMassProps>, - Colliders: ComponentSetMut<ColliderChanges> - + ComponentSetMut<ColliderPosition> - + ComponentSetOption<ColliderParent> - + ComponentSet<ColliderShape> - + ComponentSet<ColliderMassProps>, -{ +) { // TODO: avoid this hashmap? We could perhaps add a new flag to RigidBodyChanges to // indicated that the mass properties need to be recomputed? let mut mprops_to_update = HashMap::default(); @@ -30,25 +17,20 @@ pub(crate) fn handle_user_changes_to_colliders<Bodies, Colliders>( for handle in modified_colliders { // NOTE: we use `get` because the collider may no longer // exist if it has been removed. - let co_changes: Option<ColliderChanges> = colliders.get(handle.0).copied(); - - if let Some(co_changes) = co_changes { - if co_changes.contains(ColliderChanges::PARENT) { - let co_parent: Option<&ColliderParent> = colliders.get(handle.0); - - if let Some(co_parent) = co_parent { + if let Some(co) = colliders.get(*handle) { + if co.changes.contains(ColliderChanges::PARENT) { + if let Some(co_parent) = co.parent { let parent_pos: &RigidBodyPosition = bodies.index(co_parent.handle.0); let new_pos = parent_pos.position * co_parent.pos_wrt_parent; - let new_changes = co_changes | ColliderChanges::POSITION; + let new_changes = co.changes | ColliderChanges::POSITION; colliders.set_internal(handle.0, ColliderPosition(new_pos)); colliders.set_internal(handle.0, new_changes); } } - if co_changes.contains(ColliderChanges::SHAPE) { - let co_parent: Option<&ColliderParent> = colliders.get(handle.0); - if let Some(co_parent) = co_parent { + if co.changes.contains(ColliderChanges::SHAPE) { + if let Some(co_parent) = co.parent { mprops_to_update.insert(co_parent.handle, ()); } } @@ -56,11 +38,10 @@ pub(crate) fn handle_user_changes_to_colliders<Bodies, Colliders>( } for (to_update, _) in mprops_to_update { - let (rb_pos, rb_colliders): (&RigidBodyPosition, &RigidBodyColliders) = - bodies.index_bundle(to_update.0); - let position = rb_pos.position; + let rb = &bodies[to_update]; + let position = rb.position(); // FIXME: remove the clone once we remove the ComponentSets. - let attached_colliders = rb_colliders.clone(); + let attached_colliders = rb.colliders().clone(); bodies.map_mut_internal(to_update.0, |rb_mprops| { rb_mprops.recompute_mass_properties_from_colliders( @@ -72,23 +53,13 @@ pub(crate) fn handle_user_changes_to_colliders<Bodies, Colliders>( } } -pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>( +pub(crate) fn handle_user_changes_to_rigid_bodies( mut islands: Option<&mut IslandManager>, - bodies: &mut Bodies, - colliders: &mut Colliders, + bodies: &mut RigidBodySet, + colliders: &mut ColliderSet, modified_bodies: &[RigidBodyHandle], modified_colliders: &mut Vec<ColliderHandle>, -) where - Bodies: ComponentSetMut<RigidBodyChanges> - + ComponentSet<RigidBodyType> - + ComponentSetMut<RigidBodyIds> - + ComponentSetMut<RigidBodyActivation> - + ComponentSet<RigidBodyColliders> - + ComponentSet<RigidBodyPosition>, - Colliders: ComponentSetMut<ColliderPosition> - + ComponentSetMut<ColliderChanges> - + ComponentSetOption<ColliderParent>, -{ +) { enum FinalAction { UpdateActiveKinematicSetId, UpdateActiveDynamicSetId, @@ -96,28 +67,23 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>( for handle in modified_bodies { let mut final_action = None; - let changes: Option<&RigidBodyChanges> = bodies.get(handle.0); - if changes.is_none() { + if !bodies.contains(*handle) { // The body no longer exists. continue; } - let mut changes = *changes.unwrap(); - let mut ids: RigidBodyIds = *bodies.index(handle.0); - let mut activation: RigidBodyActivation = *bodies.index(handle.0); - let (status, rb_colliders, poss): ( - &RigidBodyType, - &RigidBodyColliders, - &RigidBodyPosition, - ) = bodies.index_bundle(handle.0); + let rb = &bodies[handle]; + let mut changes = rb.changes; + let mut ids: RigidBodyIds = rb.ids; + let mut activation: RigidBodyActivation = rb.activation; { // The body's status changed. We need to make sure // it is on the correct active set. if let Some(islands) = islands.as_deref_mut() { if changes.contains(RigidBodyChanges::TYPE) { - match status { + match rb.status { RigidBodyType::Dynamic => { // Remove from the active kinematic set if it was there. if islands.active_kinematic_set.get(ids.active_set_id) == Some(handle) { @@ -161,9 +127,10 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>( if changes.contains(RigidBodyChanges::POSITION) || changes.contains(RigidBodyChanges::COLLIDERS) { - rb_colliders.update_positions(colliders, modified_colliders, &poss.position); + rb.colliders + .update_positions(colliders, modified_colliders, &rb.pos.position); - if status.is_kinematic() + if rb.is_kinematic() && islands.active_kinematic_set.get(ids.active_set_id) != Some(handle) { ids.active_set_id = islands.active_kinematic_set.len(); @@ -175,7 +142,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>( // sleeping and if it is not already inside of the active set. if changes.contains(RigidBodyChanges::SLEEP) && !activation.sleeping // May happen if the body was put to sleep manually. - && status.is_dynamic() // Only dynamic bodies are in the active dynamic set. + && rb.is_dynamic() // Only dynamic bodies are in the active dynamic set. && islands.active_dynamic_set.get(ids.active_set_id) != Some(handle) { ids.active_set_id = islands.active_dynamic_set.len(); // This will handle the case where the activation_channel contains duplicates. @@ -186,14 +153,15 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>( if changes.contains(RigidBodyChanges::POSITION) || changes.contains(RigidBodyChanges::COLLIDERS) { - rb_colliders.update_positions(colliders, modified_colliders, &poss.position); + rb.colliders + .update_positions(colliders, modified_colliders, &rb.pos.position); } } if changes.contains(RigidBodyChanges::DOMINANCE) || changes.contains(RigidBodyChanges::TYPE) { - for handle in rb_colliders.0.iter() { + for handle in rb.colliders.0.iter() { colliders.map_mut_internal(handle.0, |co_changes: &mut ColliderChanges| { if !co_changes.contains(ColliderChanges::MODIFIED) { modified_colliders.push(*handle); |