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-rw-r--r--src/dynamics/integration_parameters.rs2
-rw-r--r--src/dynamics/joint/fixed_joint.rs23
-rw-r--r--src/dynamics/joint/generic_joint.rs26
-rw-r--r--src/dynamics/joint/impulse_joint/impulse_joint_set.rs14
-rw-r--r--src/dynamics/joint/multibody_joint/multibody_joint_set.rs35
-rw-r--r--src/dynamics/joint/prismatic_joint.rs24
-rw-r--r--src/dynamics/joint/revolute_joint.rs23
-rw-r--r--src/dynamics/joint/spherical_joint.rs23
-rw-r--r--src/dynamics/rigid_body.rs2
-rw-r--r--src/geometry/narrow_phase.rs28
-rw-r--r--src/pipeline/collision_pipeline.rs3
-rw-r--r--src/pipeline/physics_pipeline.rs8
12 files changed, 197 insertions, 14 deletions
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs
index 6a86a2a..6d3acc5 100644
--- a/src/dynamics/integration_parameters.rs
+++ b/src/dynamics/integration_parameters.rs
@@ -134,7 +134,7 @@ impl IntegrationParameters {
1.0 / (1.0 + cfm_coeff)
}
- /// The CFM (constranits force mixing) coefficient applied to all joints for constraints regularization
+ /// The CFM (constraints force mixing) coefficient applied to all joints for constraints regularization
pub fn joint_cfm_coeff(&self) -> Real {
// Compute CFM assuming a critically damped spring multiplied by the damping ratio.
let inv_erp_minus_one = 1.0 / self.joint_erp - 1.0;
diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index 92f0d7c..75c8228 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -6,7 +6,8 @@ use crate::math::{Isometry, Point, Real};
#[repr(transparent)]
/// A fixed joint, locks all relative motion between two bodies.
pub struct FixedJoint {
- data: GenericJoint,
+ /// The underlying joint data.
+ pub data: GenericJoint,
}
impl Default for FixedJoint {
@@ -23,6 +24,17 @@ impl FixedJoint {
Self { data }
}
+ /// Are contacts between the attached rigid-bodies enabled?
+ pub fn contacts_enabled(&self) -> bool {
+ self.data.contacts_enabled
+ }
+
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
+ self.data.set_contacts_enabled(enabled);
+ self
+ }
+
/// The joint’s frame, expressed in the first rigid-body’s local-space.
#[must_use]
pub fn local_frame1(&self) -> &Isometry<Real> {
@@ -81,7 +93,7 @@ impl Into<GenericJoint> for FixedJoint {
/// Create fixed joints using the builder pattern.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq, Default)]
-pub struct FixedJointBuilder(FixedJoint);
+pub struct FixedJointBuilder(pub FixedJoint);
impl FixedJointBuilder {
/// Creates a new builder for fixed joints.
@@ -89,6 +101,13 @@ impl FixedJointBuilder {
Self(FixedJoint::new())
}
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ #[must_use]
+ pub fn contacts_enabled(mut self, enabled: bool) -> Self {
+ self.0.set_contacts_enabled(enabled);
+ self
+ }
+
/// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
#[must_use]
pub fn local_frame1(mut self, local_frame: Isometry<Real>) -> Self {
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index b3277e9..1cf96cb 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -206,6 +206,8 @@ pub struct GenericJoint {
///
/// Note that the mostor must also be explicitly enabled by the `motors` bitmask.
pub motors: [JointMotor; SPATIAL_DIM],
+ /// Are contacts between the attached rigid-bodies enabled?
+ pub contacts_enabled: bool,
}
impl Default for GenericJoint {
@@ -219,6 +221,7 @@ impl Default for GenericJoint {
coupled_axes: JointAxesMask::empty(),
limits: [JointLimits::default(); SPATIAL_DIM],
motors: [JointMotor::default(); SPATIAL_DIM],
+ contacts_enabled: true,
}
}
}
@@ -275,6 +278,17 @@ impl GenericJoint {
self
}
+ /// Are contacts between the attached rigid-bodies enabled?
+ pub fn contacts_enabled(&self) -> bool {
+ self.contacts_enabled
+ }
+
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
+ self.contacts_enabled = enabled;
+ self
+ }
+
/// The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
#[must_use]
pub fn local_axis1(&self) -> UnitVector<Real> {
@@ -481,8 +495,9 @@ impl GenericJoint {
}
/// Create generic joints using the builder pattern.
-#[derive(Copy, Clone, Debug)]
-pub struct GenericJointBuilder(GenericJoint);
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub struct GenericJointBuilder(pub GenericJoint);
impl GenericJointBuilder {
/// Creates a new generic joint builder.
@@ -498,6 +513,13 @@ impl GenericJointBuilder {
self
}
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ #[must_use]
+ pub fn contacts_enabled(mut self, enabled: bool) -> Self {
+ self.0.contacts_enabled = enabled;
+ self
+ }
+
/// Sets the joint’s frame, expressed in the first rigid-body’s local-space.
#[must_use]
pub fn local_frame1(mut self, local_frame: Isometry<Real>) -> Self {
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
index c4ec734..7409172 100644
--- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
+++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
@@ -71,6 +71,20 @@ impl ImpulseJointSet {
&self.joint_graph
}
+ /// Iterates through all the joints between two rigid-bodies.
+ pub fn joints_between<'a>(
+ &'a self,
+ body1: RigidBodyHandle,
+ body2: RigidBodyHandle,
+ ) -> impl Iterator<Item = (ImpulseJointHandle, &'a ImpulseJoint)> {
+ self.rb_graph_ids
+ .get(body1.0)
+ .zip(self.rb_graph_ids.get(body2.0))
+ .into_iter()
+ .flat_map(move |(id1, id2)| self.joint_graph.interaction_pair(*id1, *id2).into_iter())
+ .map(|inter| (inter.2.handle, inter.2))
+ }
+
/// Iterates through all the impulse joints attached to the given rigid-body.
pub fn attached_joints<'a>(
&'a self,
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
index f1b2ffe..c25de73 100644
--- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
@@ -321,6 +321,41 @@ impl MultibodyJointSet {
))
}
+ /// Returns the the joint between two rigid-bodies (if it exists).
+ pub fn joint_between(
+ &self,
+ rb1: RigidBodyHandle,
+ rb2: RigidBodyHandle,
+ ) -> Option<(MultibodyJointHandle, &Multibody, &MultibodyLink)> {
+ let id1 = self.rb2mb.get(rb1.0)?;
+ let id2 = self.rb2mb.get(rb2.0)?;
+
+ // Both bodies must be part of the same multibody.
+ if id1.multibody != id2.multibody {
+ return None;
+ }
+
+ let mb = self.multibodies.get(id1.multibody.0)?;
+
+ // NOTE: if there is a joint between these two bodies, then
+ // one of the bodies must be the parent of the other.
+ let link1 = mb.link(id1.id)?;
+ let parent1 = link1.parent_id()?;
+
+ if parent1 == id2.id {
+ Some((MultibodyJointHandle(rb1.0), mb, &link1))
+ } else {
+ let link2 = mb.link(id2.id)?;
+ let parent2 = link2.parent_id()?;
+
+ if parent2 == id1.id {
+ Some((MultibodyJointHandle(rb2.0), mb, &link2))
+ } else {
+ None
+ }
+ }
+ }
+
/// Iterates through all the joints attached to the given rigid-body.
pub fn attached_joints(
&self,
diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs
index 667999f..1e7a016 100644
--- a/src/dynamics/joint/prismatic_joint.rs
+++ b/src/dynamics/joint/prismatic_joint.rs
@@ -9,7 +9,8 @@ use super::{JointLimits, JointMotor};
#[repr(transparent)]
/// A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.
pub struct PrismaticJoint {
- data: GenericJoint,
+ /// The underlying joint data.
+ pub data: GenericJoint,
}
impl PrismaticJoint {
@@ -29,6 +30,17 @@ impl PrismaticJoint {
&self.data
}
+ /// Are contacts between the attached rigid-bodies enabled?
+ pub fn contacts_enabled(&self) -> bool {
+ self.data.contacts_enabled
+ }
+
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
+ self.data.set_contacts_enabled(enabled);
+ self
+ }
+
/// The joint’s anchor, expressed in the local-space of the first rigid-body.
#[must_use]
pub fn local_anchor1(&self) -> Point<Real> {
@@ -149,8 +161,9 @@ impl Into<GenericJoint> for PrismaticJoint {
/// Create prismatic joints using the builder pattern.
///
/// A prismatic joint locks all relative motion except for translations along the joint’s principal axis.
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
-pub struct PrismaticJointBuilder(PrismaticJoint);
+pub struct PrismaticJointBuilder(pub PrismaticJoint);
impl PrismaticJointBuilder {
/// Creates a new builder for prismatic joints.
@@ -160,6 +173,13 @@ impl PrismaticJointBuilder {
Self(PrismaticJoint::new(axis))
}
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ #[must_use]
+ pub fn contacts_enabled(mut self, enabled: bool) -> Self {
+ self.0.set_contacts_enabled(enabled);
+ self
+ }
+
/// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
#[must_use]
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs
index 28e3968..9400ba8 100644
--- a/src/dynamics/joint/revolute_joint.rs
+++ b/src/dynamics/joint/revolute_joint.rs
@@ -10,7 +10,8 @@ use crate::math::UnitVector;
#[repr(transparent)]
/// A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.
pub struct RevoluteJoint {
- data: GenericJoint,
+ /// The underlying joint data.
+ pub data: GenericJoint,
}
impl RevoluteJoint {
@@ -38,6 +39,17 @@ impl RevoluteJoint {
&self.data
}
+ /// Are contacts between the attached rigid-bodies enabled?
+ pub fn contacts_enabled(&self) -> bool {
+ self.data.contacts_enabled
+ }
+
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
+ self.data.set_contacts_enabled(enabled);
+ self
+ }
+
/// The joint’s anchor, expressed in the local-space of the first rigid-body.
#[must_use]
pub fn local_anchor1(&self) -> Point<Real> {
@@ -136,7 +148,7 @@ impl Into<GenericJoint> for RevoluteJoint {
/// A revolute joint locks all relative motion except for rotations along the joint’s principal axis.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
-pub struct RevoluteJointBuilder(RevoluteJoint);
+pub struct RevoluteJointBuilder(pub RevoluteJoint);
impl RevoluteJointBuilder {
/// Creates a new revolute joint builder.
@@ -153,6 +165,13 @@ impl RevoluteJointBuilder {
Self(RevoluteJoint::new(axis))
}
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ #[must_use]
+ pub fn contacts_enabled(mut self, enabled: bool) -> Self {
+ self.0.set_contacts_enabled(enabled);
+ self
+ }
+
/// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
#[must_use]
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
diff --git a/src/dynamics/joint/spherical_joint.rs b/src/dynamics/joint/spherical_joint.rs
index 89ab7b1..bce393c 100644
--- a/src/dynamics/joint/spherical_joint.rs
+++ b/src/dynamics/joint/spherical_joint.rs
@@ -9,7 +9,8 @@ use super::JointLimits;
#[repr(transparent)]
/// A spherical joint, locks all relative translations between two bodies.
pub struct SphericalJoint {
- data: GenericJoint,
+ /// The underlying joint data.
+ pub data: GenericJoint,
}
impl Default for SphericalJoint {
@@ -30,6 +31,17 @@ impl SphericalJoint {
&self.data
}
+ /// Are contacts between the attached rigid-bodies enabled?
+ pub fn contacts_enabled(&self) -> bool {
+ self.data.contacts_enabled
+ }
+
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
+ self.data.set_contacts_enabled(enabled);
+ self
+ }
+
/// The joint’s anchor, expressed in the local-space of the first rigid-body.
#[must_use]
pub fn local_anchor1(&self) -> Point<Real> {
@@ -132,7 +144,7 @@ impl Into<GenericJoint> for SphericalJoint {
/// Create spherical joints using the builder pattern.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
-pub struct SphericalJointBuilder(SphericalJoint);
+pub struct SphericalJointBuilder(pub SphericalJoint);
impl Default for SphericalJointBuilder {
fn default() -> Self {
@@ -146,6 +158,13 @@ impl SphericalJointBuilder {
Self(SphericalJoint::new())
}
+ /// Sets whether contacts between the attached rigid-bodies are enabled.
+ #[must_use]
+ pub fn contacts_enabled(mut self, enabled: bool) -> Self {
+ self.0.set_contacts_enabled(enabled);
+ self
+ }
+
/// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
#[must_use]
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 5eca5a2..eaf3967 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -20,7 +20,7 @@ pub struct RigidBody {
pub(crate) pos: RigidBodyPosition,
pub(crate) mprops: RigidBodyMassProps,
// NOTE: we need this so that the CCD can use the actual velocities obtained
- // by the velocity solver with bias. If we switch to intepolation, we
+ // by the velocity solver with bias. If we switch to interpolation, we
// should remove this field.
pub(crate) integrated_vels: RigidBodyVelocity,
pub(crate) vels: RigidBodyVelocity,
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index a1256b8..ecd1623 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -4,7 +4,8 @@ use rayon::prelude::*;
use crate::data::graph::EdgeIndex;
use crate::data::Coarena;
use crate::dynamics::{
- CoefficientCombineRule, IslandManager, RigidBodyDominance, RigidBodySet, RigidBodyType,
+ CoefficientCombineRule, ImpulseJointSet, IslandManager, RigidBodyDominance, RigidBodySet,
+ RigidBodyType,
};
use crate::geometry::{
BroadPhasePairEvent, ColliderChanges, ColliderGraphIndex, ColliderHandle, ColliderPair,
@@ -16,7 +17,7 @@ use crate::pipeline::{
ActiveEvents, ActiveHooks, ContactModificationContext, EventHandler, PairFilterContext,
PhysicsHooks,
};
-use crate::prelude::CollisionEventFlags;
+use crate::prelude::{CollisionEventFlags, MultibodyJointSet};
use parry::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
use parry::utils::IsometryOpt;
use std::collections::HashMap;
@@ -774,6 +775,8 @@ impl NarrowPhase {
prediction_distance: Real,
bodies: &RigidBodySet,
colliders: &ColliderSet,
+ impulse_joints: &ImpulseJointSet,
+ multibody_joints: &MultibodyJointSet,
modified_colliders: &[ColliderHandle],
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
@@ -812,6 +815,27 @@ impl NarrowPhase {
rb_type2 = bodies[co_parent2.handle].body_type;
}
+ // Deal with contacts disabled between bodies attached by joints.
+ if let (Some(co_parent1), Some(co_parent2)) = (&co1.parent, &co2.parent) {
+ for (_, joint) in
+ impulse_joints.joints_between(co_parent1.handle, co_parent2.handle)
+ {
+ if !joint.data.contacts_enabled {
+ pair.clear();
+ break 'emit_events;
+ }
+ }
+
+ if let Some((_, _, mb_link)) =
+ multibody_joints.joint_between(co_parent1.handle, co_parent2.handle)
+ {
+ if !mb_link.joint.data.contacts_enabled {
+ pair.clear();
+ break 'emit_events;
+ }
+ }
+ }
+
// Filter based on the rigid-body types.
if !co1.flags.active_collision_types.test(rb_type1, rb_type2)
&& !co2.flags.active_collision_types.test(rb_type1, rb_type2)
diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs
index a27e5a8..ac92a04 100644
--- a/src/pipeline/collision_pipeline.rs
+++ b/src/pipeline/collision_pipeline.rs
@@ -1,5 +1,6 @@
//! Physics pipeline structures.
+use crate::dynamics::{ImpulseJointSet, MultibodyJointSet};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderChanges, ColliderHandle, ColliderPair, NarrowPhase,
};
@@ -81,6 +82,8 @@ impl CollisionPipeline {
prediction_distance,
bodies,
colliders,
+ &ImpulseJointSet::new(),
+ &MultibodyJointSet::new(),
modified_colliders,
hooks,
events,
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index d1c3b65..d347637 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -85,6 +85,8 @@ impl PhysicsPipeline {
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
+ impulse_joints: &ImpulseJointSet,
+ multibody_joints: &MultibodyJointSet,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
hooks: &dyn PhysicsHooks,
@@ -130,6 +132,8 @@ impl PhysicsPipeline {
integration_parameters.prediction_distance,
bodies,
colliders,
+ impulse_joints,
+ multibody_joints,
modified_colliders,
hooks,
events,
@@ -449,6 +453,8 @@ impl PhysicsPipeline {
narrow_phase,
bodies,
colliders,
+ impulse_joints,
+ multibody_joints,
&modified_colliders[..],
&mut removed_colliders,
hooks,
@@ -574,6 +580,8 @@ impl PhysicsPipeline {
narrow_phase,
bodies,
colliders,
+ impulse_joints,
+ multibody_joints,
&mut modified_colliders,
&mut removed_colliders,
hooks,
generated by cgit (git 2.34.1) at 2026-02-03 19:26:43 +0000