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//! Physics pipeline structures.
use crate::data::{ComponentSet, ComponentSetMut, ComponentSetOption};
use crate::dynamics::{
RigidBodyActivation, RigidBodyChanges, RigidBodyColliders, RigidBodyDominance, RigidBodyHandle,
RigidBodyIds, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{
BroadPhase, BroadPhasePairEvent, ColliderBroadPhaseData, ColliderChanges, ColliderFlags,
ColliderHandle, ColliderMaterial, ColliderPair, ColliderParent, ColliderPosition,
ColliderShape, ColliderType, NarrowPhase,
};
use crate::math::Real;
use crate::pipeline::{EventHandler, PhysicsHooks};
#[cfg(feature = "default-sets")]
use crate::{dynamics::RigidBodySet, geometry::ColliderSet};
/// The collision pipeline, responsible for performing collision detection between colliders.
///
/// This structure only contains temporary data buffers. It can be dropped and replaced by a fresh
/// copy at any time. For performance reasons it is recommended to reuse the same physics pipeline
/// instance to benefit from the cached data.
// NOTE: this contains only workspace data, so there is no point in making this serializable.
pub struct CollisionPipeline {
broadphase_collider_pairs: Vec<ColliderPair>,
broad_phase_events: Vec<BroadPhasePairEvent>,
}
#[allow(dead_code)]
fn check_pipeline_send_sync() {
fn do_test<T: Sync>() {}
do_test::<CollisionPipeline>();
}
impl CollisionPipeline {
/// Initializes a new physics pipeline.
pub fn new() -> CollisionPipeline {
CollisionPipeline {
broadphase_collider_pairs: Vec::new(),
broad_phase_events: Vec::new(),
}
}
fn detect_collisions<Bodies, Colliders>(
&mut self,
prediction_distance: Real,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_colliders: &[ColliderHandle],
removed_colliders: &[ColliderHandle],
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
events: &dyn EventHandler,
handle_user_changes: bool,
) where
Bodies: ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyType>
+ ComponentSetMut<RigidBodyIds>
+ ComponentSet<RigidBodyDominance>,
Colliders: ComponentSetMut<ColliderBroadPhaseData>
+ ComponentSet<ColliderChanges>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>
+ ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderMaterial>
+ ComponentSet<ColliderFlags>,
{
// Update broad-phase.
self.broad_phase_events.clear();
self.broadphase_collider_pairs.clear();
broad_phase.update(
prediction_distance,
colliders,
modified_colliders,
removed_colliders,
&mut self.broad_phase_events,
);
// Update narrow-phase.
if handle_user_changes {
narrow_phase.handle_user_changes(
None,
modified_colliders,
removed_colliders,
colliders,
bodies,
events,
);
}
narrow_phase.register_pairs(None, colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(
prediction_distance,
bodies,
colliders,
modified_colliders,
hooks,
events,
);
narrow_phase.compute_intersections(bodies, colliders, modified_colliders, hooks, events);
}
fn clear_modified_colliders(
&mut self,
colliders: &mut impl ComponentSetMut<ColliderChanges>,
modified_colliders: &mut Vec<ColliderHandle>,
) {
for handle in modified_colliders.drain(..) {
colliders.set_internal(handle.0, ColliderChanges::empty())
}
}
/// Executes one step of the collision detection.
#[cfg(feature = "default-sets")]
pub fn step(
&mut self,
prediction_distance: Real,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
hooks: &dyn PhysicsHooks<RigidBodySet, ColliderSet>,
events: &dyn EventHandler,
) {
let mut modified_bodies = bodies.take_modified();
let mut modified_colliders = colliders.take_modified();
let mut removed_colliders = colliders.take_removed();
self.step_generic(
prediction_distance,
broad_phase,
narrow_phase,
bodies,
colliders,
&mut modified_bodies,
&mut modified_colliders,
&mut removed_colliders,
hooks,
events,
);
}
/// Executes one step of the collision detection.
pub fn step_generic<Bodies, Colliders>(
&mut self,
prediction_distance: Real,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_bodies: &mut Vec<RigidBodyHandle>,
modified_colliders: &mut Vec<ColliderHandle>,
removed_colliders: &mut Vec<ColliderHandle>,
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
events: &dyn EventHandler,
) where
Bodies: ComponentSetMut<RigidBodyPosition>
+ ComponentSetMut<RigidBodyVelocity>
+ ComponentSetMut<RigidBodyIds>
+ ComponentSetMut<RigidBodyActivation>
+ ComponentSetMut<RigidBodyChanges>
+ ComponentSet<RigidBodyColliders>
+ ComponentSet<RigidBodyDominance>
+ ComponentSet<RigidBodyType>,
Colliders: ComponentSetMut<ColliderBroadPhaseData>
+ ComponentSetMut<ColliderChanges>
+ ComponentSetMut<ColliderPosition>
+ ComponentSet<ColliderShape>
+ ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderMaterial>
+ ComponentSet<ColliderFlags>,
{
super::user_changes::handle_user_changes_to_colliders(
bodies,
colliders,
&modified_colliders[..],
);
super::user_changes::handle_user_changes_to_rigid_bodies(
None,
bodies,
colliders,
&modified_bodies,
modified_colliders,
);
self.detect_collisions(
prediction_distance,
broad_phase,
narrow_phase,
bodies,
colliders,
&modified_colliders[..],
removed_colliders,
hooks,
events,
true,
);
self.clear_modified_colliders(colliders, modified_colliders);
removed_colliders.clear();
}
}
|
