diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/ccd/ccd_solver.rs | 3 | ||||
| -rw-r--r-- | src/geometry/collider_set.rs | 7 | ||||
| -rw-r--r-- | src/pipeline/physics_pipeline.rs | 37 |
3 files changed, 46 insertions, 1 deletions
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs index 134b8a6..ff463c7 100644 --- a/src/dynamics/ccd/ccd_solver.rs +++ b/src/dynamics/ccd/ccd_solver.rs @@ -15,7 +15,10 @@ pub enum PredictedImpacts { } /// Solver responsible for performing motion-clamping on fast-moving bodies. +#[derive(Clone)] +#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] pub struct CCDSolver { + #[cfg_attr(feature = "serde-serialize", serde(skip))] query_pipeline: QueryPipeline, } diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs index 7af34f1..7b453a3 100644 --- a/src/geometry/collider_set.rs +++ b/src/geometry/collider_set.rs @@ -139,7 +139,12 @@ impl ColliderSet { self.modified_all_colliders = false; } else { for handle in self.modified_colliders.drain(..) { - self.colliders[handle.0].changes = ColliderChanges::empty(); + // NOTE: if the collider was added, then removed from this set before + // a an update, then it will no longer exist in `self.colliders` + // so we need to do this `if let`. + if let Some(co) = self.colliders.get_mut(handle.0) { + co.changes = ColliderChanges::empty(); + } } } } diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs index 0f7b5f6..f4ac531 100644 --- a/src/pipeline/physics_pipeline.rs +++ b/src/pipeline/physics_pipeline.rs @@ -588,4 +588,41 @@ mod test { assert_eq!(h2a, h2b); assert_eq!(h3a, h3b); } + + #[test] + fn collider_removal_before_step() { + let mut pipeline = PhysicsPipeline::new(); + let gravity = Vector::y() * -9.81; + let integration_parameters = IntegrationParameters::default(); + let mut broad_phase = BroadPhase::new(); + let mut narrow_phase = NarrowPhase::new(); + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let mut ccd = CCDSolver::new(); + let mut joints = JointSet::new(); + let physics_hooks = (); + let event_handler = (); + + let body = RigidBodyBuilder::new_dynamic().build(); + let b_handle = bodies.insert(body); + let collider = ColliderBuilder::ball(1.0).build(); + let c_handle = colliders.insert(collider, b_handle, &mut bodies); + colliders.remove(c_handle, &mut bodies, true); + bodies.remove(b_handle, &mut colliders, &mut joints); + + for _ in 0..10 { + pipeline.step( + &gravity, + &integration_parameters, + &mut broad_phase, + &mut narrow_phase, + &mut bodies, + &mut colliders, + &mut joints, + &mut ccd, + &physics_hooks, + &event_handler, + ); + } + } } |