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//! Physics pipeline structures.
use crate::data::{ComponentSet, ComponentSetMut};
use crate::dynamics::{
IslandManager, JointSet, RigidBodyActivation, RigidBodyColliders, RigidBodyDominance,
RigidBodyIds, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderShape, NarrowPhase};
use crate::math::Real;
use crate::pipeline::{EventHandler, PhysicsHooks};
/// 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>,
empty_joints: JointSet,
}
#[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(),
empty_joints: JointSet::new(),
}
}
/// Executes one step of the collision detection.
pub fn step<Bodies, Colliders>(
&mut self,
_prediction_distance: Real,
_broad_phase: &mut BroadPhase,
_narrow_phase: &mut NarrowPhase,
_islands: &mut IslandManager,
_bodies: &mut Bodies,
_colliders: &mut Colliders,
_hooks: &dyn PhysicsHooks<Bodies, Colliders>,
_events: &dyn EventHandler,
) where
Bodies: ComponentSetMut<RigidBodyIds>
+ ComponentSetMut<RigidBodyActivation>
+ ComponentSet<RigidBodyColliders>
+ ComponentSetMut<RigidBodyVelocity>
+ ComponentSet<RigidBodyDominance>
+ ComponentSet<RigidBodyType>,
Colliders: ComponentSetMut<ColliderShape>,
{
unimplemented!()
}
}
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