From 5063f3bb4fec2716f78a208552ee260f22428840 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Thu, 23 Jun 2022 16:23:39 +0200
Subject: Add the ability to disable contacts between two rigid-bodies attached
 by joints

---
 src/pipeline/collision_pipeline.rs | 3 +++
 src/pipeline/physics_pipeline.rs   | 8 ++++++++
 2 files changed, 11 insertions(+)

(limited to 'src/pipeline')

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,
-- 
cgit