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-rw-r--r--src/data/pubsub.rs67
-rw-r--r--src/dynamics/rigid_body_set.rs2
-rw-r--r--src/geometry/broad_phase_multi_sap.rs6
-rw-r--r--src/geometry/collider_set.rs2
-rw-r--r--src/geometry/narrow_phase.rs8
-rw-r--r--src/geometry/waabb.rs6
-rw-r--r--src/geometry/wquadtree.rs3
-rw-r--r--src/pipeline/collision_pipeline.rs2
-rw-r--r--src/pipeline/physics_pipeline.rs6
-rw-r--r--src/pipeline/query_pipeline.rs6
10 files changed, 72 insertions, 36 deletions
diff --git a/src/data/pubsub.rs b/src/data/pubsub.rs
index 1ac7498..0a3432a 100644
--- a/src/data/pubsub.rs
+++ b/src/data/pubsub.rs
@@ -3,16 +3,28 @@
use serde::export::PhantomData;
use std::collections::VecDeque;
-/// The position of a subscriber on a pub-sub queue.
+/// A permanent subscription to a pub-sub queue.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-pub struct PubSubCursor<T> {
- // Index of the next message to read.
+pub struct Subscription<T> {
+ // Position on the cursor array.
id: u32,
- next: u32,
_phantom: PhantomData<T>,
}
-impl<T> PubSubCursor<T> {
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+struct PubSubCursor {
+ // Position on the offset array.
+ id: u32,
+ // Index of the next message to read.
+ // NOTE: Having this here is not actually necessary because
+ // this value is supposed to be equal to `offsets[self.id]`.
+ // However, we keep it because it lets us avoid one lookup
+ // on the `offsets` array inside of message-polling loops
+ // based on `read_ith`.
+ next: u32,
+}
+
+impl PubSubCursor {
fn id(&self, num_deleted: u32) -> usize {
(self.id - num_deleted) as usize
}
@@ -29,6 +41,7 @@ pub struct PubSub<T> {
deleted_offsets: u32,
messages: VecDeque<T>,
offsets: VecDeque<u32>,
+ cursors: Vec<PubSubCursor>,
}
impl<T> PubSub<T> {
@@ -39,7 +52,22 @@ impl<T> PubSub<T> {
deleted_messages: 0,
messages: VecDeque::new(),
offsets: VecDeque::new(),
+ cursors: Vec::new(),
+ }
+ }
+
+ fn reset_shifts(&mut self) {
+ for offset in &mut self.offsets {
+ *offset -= self.deleted_messages;
}
+
+ for cursor in &mut self.cursors {
+ cursor.id -= self.deleted_offsets;
+ cursor.next -= self.deleted_messages;
+ }
+
+ self.deleted_offsets = 0;
+ self.deleted_messages = 0;
}
/// Publish a new message.
@@ -55,25 +83,33 @@ impl<T> PubSub<T> {
/// Subscribe to the queue.
///
/// A subscription cannot be cancelled.
- pub fn subscribe(&mut self) -> PubSubCursor<T> {
+ #[must_use]
+ pub fn subscribe(&mut self) -> Subscription<T> {
let cursor = PubSubCursor {
next: self.messages.len() as u32 + self.deleted_messages,
id: self.offsets.len() as u32 + self.deleted_offsets,
+ };
+
+ let subscription = Subscription {
+ id: self.cursors.len() as u32,
_phantom: PhantomData,
};
self.offsets.push_back(cursor.next);
- cursor
+ self.cursors.push(cursor);
+ subscription
}
/// Read the i-th message not yet read by the given subsciber.
- pub fn read_ith(&self, cursor: &PubSubCursor<T>, i: usize) -> Option<&T> {
+ pub fn read_ith(&self, sub: &Subscription<T>, i: usize) -> Option<&T> {
+ let cursor = &self.cursors[sub.id as usize];
self.messages
.get(cursor.next(self.deleted_messages) as usize + i)
}
/// Get the messages not yet read by the given subscriber.
- pub fn read(&self, cursor: &PubSubCursor<T>) -> impl Iterator<Item = &T> {
+ pub fn read(&self, sub: &Subscription<T>) -> impl Iterator<Item = &T> {
+ let cursor = &self.cursors[sub.id as usize];
let next = cursor.next(self.deleted_messages);
// TODO: use self.queue.range(next..) once it is stabilised.
@@ -86,11 +122,14 @@ impl<T> PubSub<T> {
/// Makes the given subscribe acknowledge all the messages in the queue.
///
/// A subscriber cannot read acknowledged messages any more.
- pub fn ack(&mut self, cursor: &mut PubSubCursor<T>) {
+ pub fn ack(&mut self, sub: &Subscription<T>) {
// Update the cursor.
- cursor.next = self.messages.len() as u32 + self.deleted_messages;
+ let cursor = &mut self.cursors[sub.id as usize];
+
self.offsets[cursor.id(self.deleted_offsets)] = u32::MAX;
cursor.id = self.offsets.len() as u32 + self.deleted_offsets;
+
+ cursor.next = self.messages.len() as u32 + self.deleted_messages;
self.offsets.push_back(cursor.next);
// Now clear the messages we don't need to
@@ -110,6 +149,12 @@ impl<T> PubSub<T> {
}
self.deleted_messages += num_to_delete;
+
+ if self.deleted_messages > u32::MAX / 2 || self.deleted_offsets > u32::MAX / 2 {
+ // Don't let the deleted_* shifts grow indefinitely otherwise
+ // they will end up overflowing, breaking everything.
+ self.reset_shifts();
+ }
}
}
diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs
index 7906083..83f1c51 100644
--- a/src/dynamics/rigid_body_set.rs
+++ b/src/dynamics/rigid_body_set.rs
@@ -2,11 +2,9 @@
use rayon::prelude::*;
use crate::data::arena::Arena;
-use crate::data::pubsub::PubSub;
use crate::dynamics::{BodyStatus, Joint, JointSet, RigidBody};
use crate::geometry::{ColliderHandle, ColliderSet, ContactPair, InteractionGraph};
use crossbeam::channel::{Receiver, Sender};
-use num::Zero;
use std::ops::{Deref, DerefMut, Index, IndexMut};
/// A mutable reference to a rigid-body.
diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs
index 0add089..d85eae3 100644
--- a/src/geometry/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap.rs
@@ -1,6 +1,6 @@
-use crate::data::pubsub::PubSubCursor;
+use crate::data::pubsub::Subscription;
use crate::dynamics::RigidBodySet;
-use crate::geometry::{Collider, ColliderHandle, ColliderSet, RemovedCollider};
+use crate::geometry::{ColliderHandle, ColliderSet, RemovedCollider};
use crate::math::{Point, Vector, DIM};
#[cfg(feature = "enhanced-determinism")]
use crate::utils::FxHashMap32 as HashMap;
@@ -417,7 +417,7 @@ impl SAPRegion {
pub struct BroadPhase {
proxies: Proxies,
regions: HashMap<Point<i32>, SAPRegion>,
- removed_colliders: Option<PubSubCursor<RemovedCollider>>,
+ removed_colliders: Option<Subscription<RemovedCollider>>,
deleted_any: bool,
// We could think serializing this workspace is useless.
// It turns out is is important to serialize at least its capacity
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index dbdd2a4..5ac9658 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -83,7 +83,7 @@ impl ColliderSet {
/*
* Delete the collider from its parent body.
*/
- if let Some(mut parent) = bodies.get_mut_internal(collider.parent) {
+ if let Some(parent) = bodies.get_mut_internal(collider.parent) {
parent.remove_collider_internal(handle, &collider);
bodies.wake_up(collider.parent, true);
}
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 60c5e1a..ebe0a79 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -14,13 +14,13 @@ use crate::geometry::proximity_detector::{
// proximity_detector::ProximityDetectionContextSimd, WBall,
//};
use crate::geometry::{
- BroadPhasePairEvent, Collider, ColliderGraphIndex, ColliderHandle, ContactEvent,
- ProximityEvent, ProximityPair, RemovedCollider,
+ BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ContactEvent, ProximityEvent,
+ ProximityPair, RemovedCollider,
};
use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
//#[cfg(feature = "simd-is-enabled")]
//use crate::math::{SimdFloat, SIMD_WIDTH};
-use crate::data::pubsub::PubSubCursor;
+use crate::data::pubsub::Subscription;
use crate::ncollide::query::Proximity;
use crate::pipeline::EventHandler;
use std::collections::HashMap;
@@ -31,7 +31,7 @@ use std::collections::HashMap;
pub struct NarrowPhase {
contact_graph: InteractionGraph<ContactPair>,
proximity_graph: InteractionGraph<ProximityPair>,
- removed_colliders: Option<PubSubCursor<RemovedCollider>>,
+ removed_colliders: Option<Subscription<RemovedCollider>>,
// ball_ball: Vec<usize>, // Workspace: Vec<*mut ContactPair>,
// shape_shape: Vec<usize>, // Workspace: Vec<*mut ContactPair>,
// ball_ball_prox: Vec<usize>, // Workspace: Vec<*mut ProximityPair>,
diff --git a/src/geometry/waabb.rs b/src/geometry/waabb.rs
index cc420d9..645ac04 100644
--- a/src/geometry/waabb.rs
+++ b/src/geometry/waabb.rs
@@ -93,10 +93,6 @@ impl<'de> serde::Deserialize<'de> for WAABB {
}
impl WAABB {
- pub fn new(mins: Point<SimdFloat>, maxs: Point<SimdFloat>) -> Self {
- Self { mins, maxs }
- }
-
pub fn new_invalid() -> Self {
Self::splat(AABB::new_invalid())
}
@@ -132,7 +128,7 @@ impl WAABB {
for i in 0usize..DIM {
let is_not_zero = ray.dir[i].simd_ne(_0);
let is_zero_test =
- (ray.origin[i].simd_ge(self.mins[i]) & ray.origin[i].simd_le(self.maxs[i]));
+ ray.origin[i].simd_ge(self.mins[i]) & ray.origin[i].simd_le(self.maxs[i]);
let is_not_zero_test = {
let denom = _1 / ray.dir[i];
let mut inter_with_near_plane =
diff --git a/src/geometry/wquadtree.rs b/src/geometry/wquadtree.rs
index fe1ba2a..233ebd1 100644
--- a/src/geometry/wquadtree.rs
+++ b/src/geometry/wquadtree.rs
@@ -379,11 +379,13 @@ impl<T: IndexedData> WQuadtree<T> {
}
}
+#[allow(dead_code)]
struct WQuadtreeIncrementalBuilderStep {
range: Range<usize>,
parent: NodeIndex,
}
+#[allow(dead_code)]
struct WQuadtreeIncrementalBuilder<T> {
quadtree: WQuadtree<T>,
to_insert: Vec<WQuadtreeIncrementalBuilderStep>,
@@ -391,6 +393,7 @@ struct WQuadtreeIncrementalBuilder<T> {
indices: Vec<usize>,
}
+#[allow(dead_code)]
impl<T: IndexedData> WQuadtreeIncrementalBuilder<T> {
pub fn new() -> Self {
Self {
diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs
index 2283fa7..5a19e52 100644
--- a/src/pipeline/collision_pipeline.rs
+++ b/src/pipeline/collision_pipeline.rs
@@ -1,6 +1,6 @@
//! Physics pipeline structures.
-use crate::dynamics::{JointSet, RigidBody, RigidBodyHandle, RigidBodySet};
+use crate::dynamics::{JointSet, RigidBodySet};
use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase};
use crate::pipeline::EventHandler;
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index f00fa8d..4a39f79 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -1,15 +1,13 @@
//! Physics pipeline structures.
use crate::counters::Counters;
-use crate::data::pubsub::PubSubCursor;
#[cfg(not(feature = "parallel"))]
use crate::dynamics::IslandSolver;
-use crate::dynamics::{IntegrationParameters, JointSet, RigidBody, RigidBodyHandle, RigidBodySet};
+use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
use crate::geometry::{
- BroadPhase, BroadPhasePairEvent, Collider, ColliderHandle, ColliderPair, ColliderSet,
- ContactManifoldIndex, NarrowPhase, RemovedCollider,
+ BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase,
};
use crate::math::Vector;
use crate::pipeline::EventHandler;
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs
index c5f0ded..32f59fc 100644
--- a/src/pipeline/query_pipeline.rs
+++ b/src/pipeline/query_pipeline.rs
@@ -1,9 +1,5 @@
use crate::dynamics::RigidBodySet;
-use crate::geometry::{
- Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, WQuadtree, AABB, WAABB,
-};
-use crate::math::{Point, Vector};
-use ncollide::bounding_volume::BoundingVolume;
+use crate::geometry::{Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, WQuadtree};
/// A pipeline for performing queries on all the colliders of a scene.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
generated by cgit (git 2.34.1) at 2026-02-06 09:38:09 +0000