From 391bcf372ab19d4ae3eceb056eb605062bf71122 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 26 Nov 2020 11:41:43 +0100 Subject: Fix collider insertion/removal tracking. --- examples3d/all_examples3.rs | 10 +++++ examples3d/debug_add_remove_collider3.rs | 63 +++---------------------------- examples3d/debug_dynamic_collider_add3.rs | 2 +- examples3d/debug_rollback3.rs | 12 +++--- examples3d/platform3.rs | 2 +- src/dynamics/rigid_body.rs | 11 +++--- src/geometry/collider_set.rs | 9 ++++- src_testbed/engine.rs | 19 +++++++++- 8 files changed, 53 insertions(+), 75 deletions(-) diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 7549fa6..82e72e3 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -13,8 +13,10 @@ use std::cmp::Ordering; mod collision_groups3; mod compound3; mod damping3; +mod debug_add_remove_collider3; mod debug_boxes3; mod debug_cylinder3; +mod debug_dynamic_collider_add3; mod debug_infinite_fall3; mod debug_rollback3; mod debug_triangle3; @@ -82,7 +84,15 @@ pub fn main() { ("Sensor", sensor3::init_world), ("Trimesh", trimesh3::init_world), ("Keva tower", keva3::init_world), + ( + "(Debug) add/rm collider", + debug_add_remove_collider3::init_world, + ), ("(Debug) boxes", debug_boxes3::init_world), + ( + "(Debug) dyn. coll. add", + debug_dynamic_collider_add3::init_world, + ), ("(Debug) triangle", debug_triangle3::init_world), ("(Debug) trimesh", debug_trimesh3::init_world), ("(Debug) cylinder", debug_cylinder3::init_world), diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs index 9e13fb5..c8d72fc 100644 --- a/examples3d/debug_add_remove_collider3.rs +++ b/examples3d/debug_add_remove_collider3.rs @@ -13,17 +13,14 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground. */ - let ground_size = 20.0; + let ground_size = 3.0; let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() .translation(0.0, -ground_height, 0.0) .build(); let ground_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4) - .friction(0.15) - // .restitution(0.5) - .build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build(); let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); /* @@ -32,65 +29,17 @@ pub fn init_world(testbed: &mut Testbed) { let ball_rad = 0.1; let rb = RigidBodyBuilder::new_dynamic() .translation(0.0, 0.2, 0.0) - .linvel(10.0, 0.0, 0.0) .build(); let ball_handle = bodies.insert(rb); let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); colliders.insert(collider, ball_handle, &mut bodies); - let mut linvel = Vector3::zeros(); - let mut angvel = Vector3::zeros(); - let mut pos = Isometry3::identity(); - let mut step = 0; - let mut extra_balls = Vec::new(); - let snapped_frame = 51; - testbed.add_callback(move |window, physics, _, graphics, _| { - step += 1; - - // Add a bigger ball collider - let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)) - .density(100.0) - .build(); - let new_ball_collider_handle = - physics - .colliders - .insert(collider, ball_handle, &mut physics.bodies); - graphics.add_collider(window, new_ball_collider_handle, &physics.colliders); - extra_balls.push(new_ball_collider_handle); - - // Snap the ball velocity or restore it. - let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); - - if step == snapped_frame { - linvel = *ball.linvel(); - angvel = *ball.angvel(); - pos = *ball.position(); - } - - if step == 100 { - ball.set_linvel(linvel, true); - ball.set_angvel(angvel, true); - ball.set_position(pos, true); - step = snapped_frame; - - for ball in &extra_balls { - physics.colliders.remove(*ball, &mut physics.bodies, true); - } - - extra_balls.clear(); - } - // Remove then re-add the ground collider. - // let ground = physics.bodies.get_mut(ground_handle).unwrap(); - // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); - // let coll = physics - // .colliders - // .remove(ground_collider_handle, &mut physics.bodies, true) - // .unwrap(); - let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) - .friction(0.15) - .build(); + let coll = physics + .colliders + .remove(ground_collider_handle, &mut physics.bodies, true) + .unwrap(); ground_collider_handle = physics .colliders .insert(coll, ground_handle, &mut physics.bodies); diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs index 9a10b27..4ea6836 100644 --- a/examples3d/debug_dynamic_collider_add3.rs +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -91,7 +91,7 @@ pub fn init_world(testbed: &mut Testbed) { let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) .friction(0.15) .build(); - new_ground_collider_handle = + let new_ground_collider_handle = physics .colliders .insert(coll, ground_handle, &mut physics.bodies); diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs index 1c5b643..6479e1f 100644 --- a/examples3d/debug_rollback3.rs +++ b/examples3d/debug_rollback3.rs @@ -24,17 +24,18 @@ pub fn init_world(testbed: &mut Testbed) { .friction(0.15) // .restitution(0.5) .build(); - colliders.insert(collider, ground_handle, &mut bodies); + let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); /* * Rolling ball */ + let ball_rad = 0.1; let rb = RigidBodyBuilder::new_dynamic() .translation(0.0, 0.2, 0.0) .linvel(10.0, 0.0, 0.0) .build(); let ball_handle = bodies.insert(rb); - let collider = ColliderBuilder::ball(0.1).density(100.0).build(); + let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); colliders.insert(collider, ball_handle, &mut bodies); let mut linvel = Vector3::zeros(); @@ -43,8 +44,10 @@ pub fn init_world(testbed: &mut Testbed) { let mut step = 0; let snapped_frame = 51; - testbed.add_callback(move |_, physics, _, _, _| { + testbed.add_callback(move |window, physics, _, graphics, _| { step += 1; + + // Snap the ball velocity or restore it. let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); if step == snapped_frame { @@ -59,9 +62,6 @@ pub fn init_world(testbed: &mut Testbed) { ball.set_position(pos, true); step = snapped_frame; } - - let ground = physics.bodies.get_mut(ground_handle).unwrap(); - ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); }); /* diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs index 0843300..0975f39 100644 --- a/examples3d/platform3.rs +++ b/examples3d/platform3.rs @@ -71,7 +71,7 @@ pub fn init_world(testbed: &mut Testbed) { return; } - if let Some(mut platform) = physics.bodies.get_mut(platform_handle) { + if let Some(platform) = physics.bodies.get_mut(platform_handle) { let mut next_pos = *platform.position(); let dt = 0.016; diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index 52db425..0d340cc 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -167,12 +167,10 @@ impl RigidBody { /// Adds a collider to this rigid-body. pub(crate) fn add_collider(&mut self, handle: ColliderHandle, coll: &Collider) { - if !self.changes.contains(RigidBodyChanges::MODIFIED) { - self.changes.set( - RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS, - true, - ); - } + self.changes.set( + RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS, + true, + ); let mass_properties = coll .mass_properties() @@ -193,6 +191,7 @@ impl RigidBody { /// Removes a collider from this rigid-body. pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) { if let Some(i) = self.colliders.iter().position(|e| *e == handle) { + self.changes.set(RigidBodyChanges::COLLIDERS, true); self.colliders.swap_remove(i); let mass_properties = coll .mass_properties() diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs index 5765a4d..eb09322 100644 --- a/src/geometry/collider_set.rs +++ b/src/geometry/collider_set.rs @@ -63,8 +63,11 @@ impl ColliderSet { coll.reset_internal_references(); coll.parent = parent_handle; + + // NOTE: we use `get_mut` instead of `get_mut_internal` so that the + // modification flag is updated properly. let parent = bodies - .get_mut_internal(parent_handle) + .get_mut(parent_handle) .expect("Parent rigid body not found."); coll.position = parent.position * coll.delta; coll.predicted_position = parent.predicted_position * coll.delta; @@ -89,7 +92,9 @@ impl ColliderSet { /* * Delete the collider from its parent body. */ - if let Some(parent) = bodies.get_mut_internal(collider.parent) { + // NOTE: we use `get_mut` instead of `get_mut_internal` so that the + // modification flag is updated properly. + if let Some(parent) = bodies.get_mut(collider.parent) { parent.remove_collider_internal(handle, &collider); if wake_up { diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs index ff5e1ef..040c883 100644 --- a/src_testbed/engine.rs +++ b/src_testbed/engine.rs @@ -237,7 +237,7 @@ impl GraphicsManager { for collider_handle in bodies[handle].colliders() { let color = self.c2color.get(collider_handle).copied().unwrap_or(color); let collider = &colliders[*collider_handle]; - self.add_collider(window, *collider_handle, collider, color, &mut new_nodes); + self.do_add_collider(window, *collider_handle, collider, color, &mut new_nodes); } new_nodes.iter_mut().for_each(|n| n.update(colliders)); @@ -256,7 +256,22 @@ impl GraphicsManager { nodes.append(&mut new_nodes); } - fn add_collider( + pub fn add_collider( + &mut self, + window: &mut Window, + handle: ColliderHandle, + colliders: &ColliderSet, + ) { + let collider = &colliders[handle]; + let color = *self.b2color.get(&collider.parent()).unwrap(); + let color = self.c2color.get(&handle).copied().unwrap_or(color); + let mut nodes = + std::mem::replace(self.b2sn.get_mut(&collider.parent()).unwrap(), Vec::new()); + self.do_add_collider(window, handle, collider, color, &mut nodes); + self.b2sn.insert(collider.parent(), nodes); + } + + fn do_add_collider( &mut self, window: &mut Window, handle: ColliderHandle, -- cgit