diff options
Diffstat (limited to 'src/pipeline')
| -rw-r--r-- | src/pipeline/collision_pipeline.rs | 23 | ||||
| -rw-r--r-- | src/pipeline/physics_pipeline.rs | 11 | ||||
| -rw-r--r-- | src/pipeline/query_pipeline.rs | 35 |
3 files changed, 57 insertions, 12 deletions
diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs index 5a19e52..b8896e8 100644 --- a/src/pipeline/collision_pipeline.rs +++ b/src/pipeline/collision_pipeline.rs @@ -1,7 +1,10 @@ //! Physics pipeline structures. use crate::dynamics::{JointSet, RigidBodySet}; -use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase}; +use crate::geometry::{ + BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactPairFilter, NarrowPhase, + ProximityPairFilter, +}; use crate::pipeline::EventHandler; /// The collision pipeline, responsible for performing collision detection between colliders. @@ -40,6 +43,8 @@ impl CollisionPipeline { narrow_phase: &mut NarrowPhase, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, + contact_pair_filter: Option<&dyn ContactPairFilter>, + proximity_pair_filter: Option<&dyn ProximityPairFilter>, events: &dyn EventHandler, ) { bodies.maintain_active_set(); @@ -52,8 +57,20 @@ impl CollisionPipeline { narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events); - narrow_phase.compute_contacts(prediction_distance, bodies, colliders, events); - narrow_phase.compute_proximities(prediction_distance, bodies, colliders, events); + narrow_phase.compute_contacts( + prediction_distance, + bodies, + colliders, + contact_pair_filter, + events, + ); + narrow_phase.compute_proximities( + prediction_distance, + bodies, + colliders, + proximity_pair_filter, + events, + ); bodies.update_active_set_with_contacts( colliders, diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs index 47fd260..0720ff1 100644 --- a/src/pipeline/physics_pipeline.rs +++ b/src/pipeline/physics_pipeline.rs @@ -7,7 +7,8 @@ use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet}; #[cfg(feature = "parallel")] use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver}; use crate::geometry::{ - BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase, + BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, + ContactPairFilter, NarrowPhase, ProximityPairFilter, }; use crate::math::Vector; use crate::pipeline::EventHandler; @@ -68,6 +69,8 @@ impl PhysicsPipeline { bodies: &mut RigidBodySet, colliders: &mut ColliderSet, joints: &mut JointSet, + contact_pair_filter: Option<&dyn ContactPairFilter>, + proximity_pair_filter: Option<&dyn ProximityPairFilter>, events: &dyn EventHandler, ) { self.counters.step_started(); @@ -112,12 +115,14 @@ impl PhysicsPipeline { integration_parameters.prediction_distance, bodies, colliders, + contact_pair_filter, events, ); narrow_phase.compute_proximities( integration_parameters.prediction_distance, bodies, colliders, + proximity_pair_filter, events, ); // println!("Compute contact time: {}", instant::now() - t); @@ -285,6 +290,8 @@ mod test { &mut bodies, &mut colliders, &mut joints, + None, + None, &(), ); } @@ -327,6 +334,8 @@ mod test { &mut bodies, &mut colliders, &mut joints, + None, + None, &(), ); } diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs index 32f59fc..00d4396 100644 --- a/src/pipeline/query_pipeline.rs +++ b/src/pipeline/query_pipeline.rs @@ -1,5 +1,7 @@ use crate::dynamics::RigidBodySet; -use crate::geometry::{Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, WQuadtree}; +use crate::geometry::{ + Collider, ColliderHandle, ColliderSet, InteractionGroups, Ray, RayIntersection, WQuadtree, +}; /// A pipeline for performing queries on all the colliders of a scene. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] @@ -59,6 +61,7 @@ impl QueryPipeline { colliders: &'a ColliderSet, ray: &Ray, max_toi: f32, + groups: InteractionGroups, ) -> Option<(ColliderHandle, &'a Collider, RayIntersection)> { // TODO: avoid allocation? let mut inter = Vec::new(); @@ -69,10 +72,17 @@ impl QueryPipeline { for handle in inter { let collider = &colliders[handle]; - if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) { - if inter.toi < best { - best = inter.toi; - result = Some((handle, collider, inter)); + if collider.collision_groups.test(groups) { + if let Some(inter) = collider.shape().toi_and_normal_with_ray( + collider.position(), + ray, + max_toi, + true, + ) { + if inter.toi < best { + best = inter.toi; + result = Some((handle, collider, inter)); + } } } } @@ -95,6 +105,7 @@ impl QueryPipeline { colliders: &'a ColliderSet, ray: &Ray, max_toi: f32, + groups: InteractionGroups, mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool, ) { // TODO: avoid allocation? @@ -103,9 +114,17 @@ impl QueryPipeline { for handle in inter { let collider = &colliders[handle]; - if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) { - if !callback(handle, collider, inter) { - return; + + if collider.collision_groups.test(groups) { + if let Some(inter) = collider.shape().toi_and_normal_with_ray( + collider.position(), + ray, + max_toi, + true, + ) { + if !callback(handle, collider, inter) { + return; + } } } } |