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|
use crate::dynamics::{
IslandManager, RigidBodyChanges, RigidBodyHandle, RigidBodySet, RigidBodyType,
};
use crate::geometry::{ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet};
use parry::utils::hashmap::HashMap;
pub(crate) fn handle_user_changes_to_colliders(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
modified_colliders: &[ColliderHandle],
) {
// TODO: avoid this hashmap? We could perhaps add a new flag to RigidBodyChanges to
// indicated that the mass properties need to be recomputed?
let mut mprops_to_update = HashMap::default();
for handle in modified_colliders {
// NOTE: we use `get` because the collider may no longer
// exist if it has been removed.
if let Some(co) = colliders.get_mut_internal(*handle) {
if co.changes.contains(ColliderChanges::PARENT) {
if let Some(co_parent) = co.parent {
let parent_rb = &bodies[co_parent.handle];
co.pos = ColliderPosition(parent_rb.pos.position * co_parent.pos_wrt_parent);
co.changes |= ColliderChanges::POSITION;
}
}
if co.changes.contains(ColliderChanges::SHAPE) {
if let Some(co_parent) = co.parent {
mprops_to_update.insert(co_parent.handle, ());
}
}
}
}
for (to_update, _) in mprops_to_update {
let rb = bodies.index_mut_internal(to_update);
rb.mprops.recompute_mass_properties_from_colliders(
colliders,
&rb.colliders,
&rb.pos.position,
);
}
}
pub(crate) fn handle_user_changes_to_rigid_bodies(
mut islands: Option<&mut IslandManager>,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
modified_bodies: &[RigidBodyHandle],
modified_colliders: &mut Vec<ColliderHandle>,
) {
enum FinalAction {
UpdateActiveKinematicSetId,
UpdateActiveDynamicSetId,
}
for handle in modified_bodies {
let mut final_action = None;
if !bodies.contains(*handle) {
// The body no longer exists.
continue;
}
let rb = bodies.index_mut_internal(*handle);
let mut changes = rb.changes;
let mut ids = rb.ids;
let mut activation = rb.activation;
{
// The body's status changed. We need to make sure
// it is on the correct active set.
if let Some(islands) = islands.as_deref_mut() {
if changes.contains(RigidBodyChanges::TYPE) {
match rb.body_type {
RigidBodyType::Dynamic => {
// Remove from the active kinematic set if it was there.
if islands.active_kinematic_set.get(ids.active_set_id) == Some(handle) {
islands.active_kinematic_set.swap_remove(ids.active_set_id);
final_action = Some((
FinalAction::UpdateActiveKinematicSetId,
ids.active_set_id,
));
}
// Add to the active dynamic set.
activation.wake_up(true);
// Make sure the sleep change flag is set (even if for some
// reasons the rigid-body was already awake) to make
// sure the code handling sleeping change adds the body to
// the active_dynamic_set.
changes.set(RigidBodyChanges::SLEEP, true);
}
RigidBodyType::KinematicVelocityBased
| RigidBodyType::KinematicPositionBased => {
// Remove from the active dynamic set if it was there.
if islands.active_dynamic_set.get(ids.active_set_id) == Some(handle) {
islands.active_dynamic_set.swap_remove(ids.active_set_id);
final_action = Some((
FinalAction::UpdateActiveDynamicSetId,
ids.active_set_id,
));
}
// Add to the active kinematic set.
if islands.active_kinematic_set.get(ids.active_set_id) != Some(handle) {
ids.active_set_id = islands.active_kinematic_set.len();
islands.active_kinematic_set.push(*handle);
}
}
RigidBodyType::Fixed => {}
}
}
// Update the positions of the colliders.
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
rb.colliders
.update_positions(colliders, modified_colliders, &rb.pos.position);
if rb.is_kinematic()
&& islands.active_kinematic_set.get(ids.active_set_id) != Some(handle)
{
ids.active_set_id = islands.active_kinematic_set.len();
islands.active_kinematic_set.push(*handle);
}
}
// Push the body to the active set if it is not
// sleeping and if it is not already inside of the active set.
if changes.contains(RigidBodyChanges::SLEEP)
&& !activation.sleeping // May happen if the body was put to sleep manually.
&& rb.is_dynamic() // Only dynamic bodies are in the active dynamic set.
&& islands.active_dynamic_set.get(ids.active_set_id) != Some(handle)
{
ids.active_set_id = islands.active_dynamic_set.len(); // This will handle the case where the activation_channel contains duplicates.
islands.active_dynamic_set.push(*handle);
}
} else {
// We don't use islands. So just update the colliders' positions.
if changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS)
{
rb.colliders
.update_positions(colliders, modified_colliders, &rb.pos.position);
}
}
if changes.contains(RigidBodyChanges::DOMINANCE)
|| changes.contains(RigidBodyChanges::TYPE)
|| changes.contains(RigidBodyChanges::ENABLED)
{
// Propagate the modified flags to the attached colliders.
let flags = if changes.contains(RigidBodyChanges::ENABLED) {
ColliderChanges::ENABLED
} else {
ColliderChanges::PARENT_EFFECTIVE_DOMINANCE
};
for handle in rb.colliders.0.iter() {
let co = colliders.index_mut_internal(*handle);
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
co.changes |= ColliderChanges::MODIFIED | flags;
}
}
rb.changes = RigidBodyChanges::empty();
rb.ids = ids;
rb.activation = activation;
}
// Adjust some ids, if needed.
if let Some(islands) = islands.as_deref_mut() {
if let Some((action, id)) = final_action {
let active_set = match action {
FinalAction::UpdateActiveKinematicSetId => &mut islands.active_kinematic_set,
FinalAction::UpdateActiveDynamicSetId => &mut islands.active_dynamic_set,
};
if id < active_set.len() {
bodies.index_mut_internal(active_set[id]).ids.active_set_id = id;
}
}
}
}
}
|
