From 036a24614171eff0f99495b8b6f1c09e58cb4f9a Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 3 Nov 2020 14:29:47 +0100 Subject: Make cloning rigid-bodies and colliders more idiomatic. Fix #53 --- src/geometry/collider.rs | 19 +++++++------------ src/geometry/collider_set.rs | 4 ++++ 2 files changed, 11 insertions(+), 12 deletions(-) (limited to 'src/geometry') diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index f53d75a..524f265 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -188,6 +188,7 @@ impl<'de> serde::Deserialize<'de> for ColliderShape { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] /// A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries. /// /// To build a new collider, use the `ColliderBuilder` structure. @@ -212,20 +213,14 @@ pub struct Collider { pub user_data: u128, } -impl Clone for Collider { - fn clone(&self) -> Self { - Self { - shape: self.shape.clone(), - parent: RigidBodySet::invalid_handle(), - contact_graph_index: ColliderGraphIndex::new(crate::INVALID_U32), - proximity_graph_index: ColliderGraphIndex::new(crate::INVALID_U32), - proxy_index: crate::INVALID_USIZE, - ..*self - } +impl Collider { + pub(crate) fn reset_internal_links(&mut self) { + self.parent = RigidBodySet::invalid_handle(); + self.contact_graph_index = ColliderGraphIndex::new(crate::INVALID_U32); + self.proximity_graph_index = ColliderGraphIndex::new(crate::INVALID_U32); + self.proxy_index = crate::INVALID_USIZE; } -} -impl Collider { /// The rigid body this collider is attached to. pub fn parent(&self) -> RigidBodyHandle { self.parent diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs index 5ac9658..d2bb8cc 100644 --- a/src/geometry/collider_set.rs +++ b/src/geometry/collider_set.rs @@ -59,6 +59,10 @@ impl ColliderSet { parent_handle: RigidBodyHandle, bodies: &mut RigidBodySet, ) -> ColliderHandle { + // Make sure the internal links are reset, they may not be + // if this rigid-body was obtained by cloning another one. + coll.reset_internal_links(); + coll.parent = parent_handle; let parent = bodies .get_mut_internal(parent_handle) -- cgit From 0cf59d78bda1669226f861e438d43a08b099d747 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 3 Nov 2020 14:43:21 +0100 Subject: Implement Clone for everything that can be cloned. --- src/geometry/broad_phase_multi_sap.rs | 5 +++++ src/geometry/collider_set.rs | 1 + src/geometry/contact.rs | 1 + .../contact_generator/contact_generator_workspace.rs | 6 ++++++ .../contact_generator/heightfield_shape_contact_generator.rs | 6 ++++++ src/geometry/contact_generator/pfm_pfm_contact_generator.rs | 5 +++++ .../contact_generator/trimesh_shape_contact_generator.rs | 5 +++++ src/geometry/interaction_graph.rs | 1 + src/geometry/narrow_phase.rs | 1 + src/geometry/proximity.rs | 12 ++++++++++++ 10 files changed, 43 insertions(+) (limited to 'src/geometry') diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs index 1afda5a..21413ef 100644 --- a/src/geometry/broad_phase_multi_sap.rs +++ b/src/geometry/broad_phase_multi_sap.rs @@ -132,6 +132,7 @@ impl Endpoint { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] struct SAPAxis { min_bound: f32, max_bound: f32, @@ -331,6 +332,7 @@ impl SAPAxis { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] struct SAPRegion { axes: [SAPAxis; DIM], existing_proxies: BitVec, @@ -411,6 +413,7 @@ impl SAPRegion { /// A broad-phase based on multiple Sweep-and-Prune instances running of disjoint region of the 3D world. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] pub struct BroadPhase { proxies: Proxies, regions: HashMap, SAPRegion>, @@ -438,6 +441,7 @@ pub struct BroadPhase { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] pub(crate) struct BroadPhaseProxy { handle: ColliderHandle, aabb: AABB, @@ -445,6 +449,7 @@ pub(crate) struct BroadPhaseProxy { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] struct Proxies { elements: Vec, first_free: u32, diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs index d2bb8cc..0ba5911 100644 --- a/src/geometry/collider_set.rs +++ b/src/geometry/collider_set.rs @@ -17,6 +17,7 @@ pub(crate) struct RemovedCollider { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] /// A set of colliders that can be handled by a physics `World`. pub struct ColliderSet { pub(crate) removed_colliders: PubSub, diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs index 53e9064..a4a176e 100644 --- a/src/geometry/contact.rs +++ b/src/geometry/contact.rs @@ -172,6 +172,7 @@ impl Contact { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] /// The description of all the contacts between a pair of colliders. pub struct ContactPair { /// The pair of colliders involved. diff --git a/src/geometry/contact_generator/contact_generator_workspace.rs b/src/geometry/contact_generator/contact_generator_workspace.rs index fb6d7b4..e89395f 100644 --- a/src/geometry/contact_generator/contact_generator_workspace.rs +++ b/src/geometry/contact_generator/contact_generator_workspace.rs @@ -9,6 +9,12 @@ use crate::geometry::contact_generator::{ // Note we have this newtype because it simplifies the serialization/deserialization code. pub struct ContactGeneratorWorkspace(pub Box); +impl Clone for ContactGeneratorWorkspace { + fn clone(&self) -> Self { + ContactGeneratorWorkspace(self.0.clone_dyn()) + } +} + impl From for ContactGeneratorWorkspace { fn from(data: T) -> Self { Self(Box::new(data) as Box) diff --git a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs index 62c6365..70360c9 100644 --- a/src/geometry/contact_generator/heightfield_shape_contact_generator.rs +++ b/src/geometry/contact_generator/heightfield_shape_contact_generator.rs @@ -12,6 +12,7 @@ use crate::ncollide::bounding_volume::BoundingVolume; use erased_serde::Serialize; #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] struct SubDetector { #[cfg_attr(feature = "serde-serialize", serde(skip))] generator: Option, @@ -21,6 +22,7 @@ struct SubDetector { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] pub struct HeightFieldShapeContactGeneratorWorkspace { timestamp: bool, #[cfg_attr(feature = "serde-serialize", serde(skip))] @@ -182,4 +184,8 @@ impl MaybeSerializableData for HeightFieldShapeContactGeneratorWorkspace { self, )) } + + fn clone_dyn(&self) -> Box { + Box::new(self.clone()) + } } diff --git a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs index 027c398..e18e77f 100644 --- a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs +++ b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs @@ -9,6 +9,7 @@ use ncollide::query; use ncollide::query::algorithms::{gjk::GJKResult, VoronoiSimplex}; #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] pub struct PfmPfmContactManifoldGeneratorWorkspace { #[cfg_attr( feature = "serde-serialize", @@ -136,4 +137,8 @@ impl MaybeSerializableData for PfmPfmContactManifoldGeneratorWorkspace { self, )) } + + fn clone(&self) -> Box { + Box::new(self.clone()) + } } diff --git a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs index 26ccfaa..3f7d7cd 100644 --- a/src/geometry/contact_generator/trimesh_shape_contact_generator.rs +++ b/src/geometry/contact_generator/trimesh_shape_contact_generator.rs @@ -8,6 +8,7 @@ use crate::ncollide::bounding_volume::{BoundingVolume, AABB}; use erased_serde::Serialize; #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] pub struct TrimeshShapeContactGeneratorWorkspace { interferences: Vec, local_aabb2: AABB, @@ -213,4 +214,8 @@ impl MaybeSerializableData for TrimeshShapeContactGeneratorWorkspace { self, )) } + + fn clone_dyn(&self) -> Box { + Box::new(self.clone()) + } } diff --git a/src/geometry/interaction_graph.rs b/src/geometry/interaction_graph.rs index c0cf093..2abb6d1 100644 --- a/src/geometry/interaction_graph.rs +++ b/src/geometry/interaction_graph.rs @@ -10,6 +10,7 @@ pub type TemporaryInteractionIndex = EdgeIndex; /// A graph where nodes are collision objects and edges are contact or proximity algorithms. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] pub struct InteractionGraph { pub(crate) graph: Graph, } diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index e3e52e5..059a640 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -29,6 +29,7 @@ use std::collections::HashMap; /// The narrow-phase responsible for computing precise contact information between colliders. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] +#[derive(Clone)] pub struct NarrowPhase { contact_graph: InteractionGraph, proximity_graph: InteractionGraph, diff --git a/src/geometry/proximity.rs b/src/geometry/proximity.rs index 88e6e76..d3e0dc4 100644 --- a/src/geometry/proximity.rs +++ b/src/geometry/proximity.rs @@ -15,6 +15,18 @@ pub struct ProximityPair { pub(crate) detector_workspace: Option>, } +// TODO: use the `derive(Clone)` instead? +impl Clone for ProximityPair { + fn clone(&self) -> Self { + ProximityPair { + pair: self.pair.clone(), + proximity: self.proximity.clone(), + detector: None, + detector_workspace: None, + } + } +} + impl ProximityPair { pub(crate) fn new( pair: ColliderPair, -- cgit From c6af248e66c86c900d7703bcefeb1e6d185ffedf Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 3 Nov 2020 14:45:50 +0100 Subject: Rename reset_internal_links -> reset_internal_references. --- src/geometry/collider.rs | 2 +- src/geometry/collider_set.rs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'src/geometry') diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 524f265..f7f4efa 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -214,7 +214,7 @@ pub struct Collider { } impl Collider { - pub(crate) fn reset_internal_links(&mut self) { + pub(crate) fn reset_internal_references(&mut self) { self.parent = RigidBodySet::invalid_handle(); self.contact_graph_index = ColliderGraphIndex::new(crate::INVALID_U32); self.proximity_graph_index = ColliderGraphIndex::new(crate::INVALID_U32); diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs index 0ba5911..fd94675 100644 --- a/src/geometry/collider_set.rs +++ b/src/geometry/collider_set.rs @@ -62,7 +62,7 @@ impl ColliderSet { ) -> ColliderHandle { // Make sure the internal links are reset, they may not be // if this rigid-body was obtained by cloning another one. - coll.reset_internal_links(); + coll.reset_internal_references(); coll.parent = parent_handle; let parent = bodies -- cgit From 477411c6564d170c7287693c7f03976ece822c23 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 3 Nov 2020 14:50:29 +0100 Subject: Fix 3D compilation. --- src/geometry/contact_generator/pfm_pfm_contact_generator.rs | 2 +- src/geometry/polyhedron_feature3d.rs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'src/geometry') diff --git a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs index e18e77f..a9906cb 100644 --- a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs +++ b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs @@ -138,7 +138,7 @@ impl MaybeSerializableData for PfmPfmContactManifoldGeneratorWorkspace { )) } - fn clone(&self) -> Box { + fn clone_dyn(&self) -> Box { Box::new(self.clone()) } } diff --git a/src/geometry/polyhedron_feature3d.rs b/src/geometry/polyhedron_feature3d.rs index d7f0a23..5ad62df 100644 --- a/src/geometry/polyhedron_feature3d.rs +++ b/src/geometry/polyhedron_feature3d.rs @@ -5,7 +5,7 @@ use crate::utils::WBasis; use na::Point2; use ncollide::shape::Segment; -#[derive(Debug)] +#[derive(Debug, Clone)] pub struct PolyhedronFace { pub vertices: [Point; 4], pub vids: [u8; 4], // Feature ID of the vertices. -- cgit From 71611d3e30ce2fddee20832db3c3e0c8b6ba0d07 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 3 Nov 2020 15:08:06 +0100 Subject: Reset the rigid-bodies internal links properly. --- src/geometry/collider.rs | 4 ++-- src/geometry/contact_generator/pfm_pfm_contact_generator.rs | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) (limited to 'src/geometry') diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index f7f4efa..c2adc59 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -216,8 +216,8 @@ pub struct Collider { impl Collider { pub(crate) fn reset_internal_references(&mut self) { self.parent = RigidBodySet::invalid_handle(); - self.contact_graph_index = ColliderGraphIndex::new(crate::INVALID_U32); - self.proximity_graph_index = ColliderGraphIndex::new(crate::INVALID_U32); + self.contact_graph_index = InteractionGraph::::invalid_graph_index(); + self.proximity_graph_index = InteractionGraph::::invalid_graph_index(); self.proxy_index = crate::INVALID_USIZE; } diff --git a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs index a9906cb..5bc213e 100644 --- a/src/geometry/contact_generator/pfm_pfm_contact_generator.rs +++ b/src/geometry/contact_generator/pfm_pfm_contact_generator.rs @@ -138,7 +138,7 @@ impl MaybeSerializableData for PfmPfmContactManifoldGeneratorWorkspace { )) } - fn clone_dyn(&self) -> Box { + fn clone_dyn(&self) -> Box { Box::new(self.clone()) } } -- cgit