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//! Computes contacts between entities.
//!
//! See [`NarrowPhasePlugin`].
use std::marker::PhantomData;
use crate::{
dynamics::solver::{
contact::ContactConstraint, ContactConstraints, ContactSoftnessCoefficients,
},
prelude::*,
};
#[cfg(feature = "parallel")]
use bevy::tasks::{ComputeTaskPool, ParallelSlice};
use bevy::{
ecs::{
intern::Interned,
schedule::{ExecutorKind, LogLevel, ScheduleBuildSettings, ScheduleLabel},
system::SystemParam,
},
prelude::*,
};
/// Computes contacts between entities and generates contact constraints for them.
///
/// Collisions are only checked between entities contained in [`BroadCollisionPairs`],
/// which is handled by the [`BroadPhasePlugin`].
///
/// The results of the narrow phase are added into [`Collisions`].
/// By default, a [`ContactConstraint`] is also generated for each contact manifold
/// and added to the [`ContactConstraints`] resource.
///
/// The plugin takes a collider type. This should be [`Collider`] for
/// the vast majority of applications, but for custom collisión backends
/// you may use any collider that implements the [`AnyCollider`] trait.
pub struct NarrowPhasePlugin<C: AnyCollider> {
schedule: Interned<dyn ScheduleLabel>,
/// If `true`, the narrow phase will generate [`ContactConstraint`]s
/// and add them to the [`ContactConstraints`] resource.
///
/// Contact constraints are used by the [`SolverPlugin`] for solving contacts.
generate_constraints: bool,
_phantom: PhantomData<C>,
}
impl<C: AnyCollider> NarrowPhasePlugin<C> {
/// Creates a [`NarrowPhasePlugin`] with the schedule used for running its systems
/// and whether it should generate [`ContactConstraint`]s for the [`ContactConstraints`] resource.
///
/// Contact constraints are used by the [`SolverPlugin`] for solving contacts.
///
/// The default schedule is [`PhysicsSchedule`].
pub fn new(schedule: impl ScheduleLabel, generate_constraints: bool) -> Self {
Self {
schedule: schedule.intern(),
generate_constraints,
_phantom: PhantomData,
}
}
}
impl<C: AnyCollider> Default for NarrowPhasePlugin<C> {
fn default() -> Self {
Self::new(PhysicsSchedule, true)
}
}
impl<C: AnyCollider> Plugin for NarrowPhasePlugin<C> {
fn build(&self, app: &mut App) {
// For some systems, we only want one instance, even if there are multiple
// NarrowPhasePlugin instances with different collider types.
let is_first_instance = !app.world().is_resource_added::<NarrowPhaseInitialized>();
app.init_resource::<NarrowPhaseInitialized>()
.init_resource::<NarrowPhaseConfig>()
.init_resource::<Collisions>()
.register_type::<NarrowPhaseConfig>();
if self.generate_constraints {
app.init_resource::<ContactConstraints>();
}
app.configure_sets(
self.schedule,
(
NarrowPhaseSet::First,
NarrowPhaseSet::CollectCollisions,
NarrowPhaseSet::PostProcess,
NarrowPhaseSet::GenerateConstraints,
NarrowPhaseSet::Last,
)
.chain()
.in_set(PhysicsStepSet::NarrowPhase),
);
// Set up the PostProcessCollisions schedule for user-defined systems
// that filter and modify collisions.
app.edit_schedule(PostProcessCollisions, |schedule| {
schedule
.set_executor_kind(ExecutorKind::SingleThreaded)
.set_build_settings(ScheduleBuildSettings {
ambiguity_detection: LogLevel::Error,
..default()
});
});
// Manage collision states like `during_current_frame` and remove old contacts.
// Only one narrow phase instance should do this.
// TODO: It would be nice not to have collision state logic in the narrow phase.
if is_first_instance {
app.add_systems(
self.schedule,
(
// Reset collision states.
reset_collision_states
.after(NarrowPhaseSet::First)
.before(NarrowPhaseSet::CollectCollisions),
// Remove ended collisions after contact reporting
remove_ended_collisions
.after(PhysicsStepSet::ReportContacts)
.before(PhysicsStepSet::Sleeping),
)
.chain(),
);
}
// Collect contacts into `Collisions`.
app.add_systems(
self.schedule,
collect_collisions::<C>
.in_set(NarrowPhaseSet::CollectCollisions)
// Allowing ambiguities is required so that it's possible
// to have multiple collision backends at the same time.
.ambiguous_with_all(),
);
if self.generate_constraints {
if is_first_instance {
// Clear contact constraints.
app.add_systems(
self.schedule,
(|mut constraints: ResMut<ContactConstraints>| {
constraints.clear();
})
.after(NarrowPhaseSet::PostProcess)
.before(NarrowPhaseSet::GenerateConstraints),
);
}
// Generate contact constraints.
app.add_systems(
self.schedule,
generate_constraints::<C>
.in_set(NarrowPhaseSet::GenerateConstraints)
// Allowing ambiguities is required so that it's possible
// to have multiple collision backends at the same time.
.ambiguous_with_all(),
);
}
if is_first_instance {
#[cfg(debug_assertions)]
app.add_systems(
self.schedule,
log_overlap_at_spawn
.in_set(NarrowPhaseSet::PostProcess)
.before(run_post_process_collisions_schedule),
);
app.add_systems(
self.schedule,
run_post_process_collisions_schedule.in_set(NarrowPhaseSet::PostProcess),
);
}
}
}
#[derive(Resource, Default)]
struct NarrowPhaseInitialized;
/// A resource for configuring the [narrow phase](NarrowPhasePlugin).
#[derive(Resource, Reflect, Clone, Debug, PartialEq)]
#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
#[cfg_attr(feature = "serialize", reflect(Serialize, Deserialize))]
#[reflect(Debug, Resource, PartialEq)]
pub struct NarrowPhaseConfig {
/// The default maximum [speculative margin](SpeculativeMargin) used for
/// [speculative collisions](dynamics::ccd#speculative-collision). This can be overridden
/// for individual entities with the [`SpeculativeMargin`] component.
///
/// By default, the maximum speculative margin is unbounded, so contacts can be predicted
/// from any distance, provided that the bodies are moving fast enough. As the prediction distance
/// grows, the contact data becomes more and more approximate, and in rare cases, it can even cause
/// [issues](dynamics::ccd#caveats-of-speculative-collision) such as ghost collisions.
///
/// By limiting the maximum speculative margin, these issues can be mitigated, at the cost
/// of an increased risk of tunneling. Setting it to `0.0` disables speculative collision
/// altogether for entities without [`SpeculativeMargin`].
///
/// This is implicitly scaled by the [`PhysicsLengthUnit`].
///
/// Default: `MAX` (unbounded)
pub default_speculative_margin: Scalar,
/// A contact tolerance that acts as a minimum bound for the [speculative margin](dynamics::ccd#speculative-collision).
///
/// A small, positive contact tolerance helps ensure that contacts are not missed
/// due to numerical issues or solver jitter for objects that are in continuous
/// contact, such as pushing against each other.
///
/// Making the contact tolerance too large will have a negative impact on performance,
/// as contacts will be computed even for objects that are not in close proximity.
///
/// This is implicitly scaled by the [`PhysicsLengthUnit`].
///
/// Default: `0.005`
pub contact_tolerance: Scalar,
/// If `true`, the current contacts will be matched with the previous contacts
/// based on feature IDs or contact positions, and the contact impulses from
/// the previous frame will be copied over for the new contacts.
///
/// Using these impulses as the initial guess is referred to as *warm starting*,
/// and it can help the contact solver resolve overlap and stabilize much faster.
///
/// Default: `true`
pub match_contacts: bool,
}
impl Default for NarrowPhaseConfig {
fn default() -> Self {
Self {
default_speculative_margin: Scalar::MAX,
contact_tolerance: 0.005,
match_contacts: true,
}
}
}
/// System sets for systems running in [`PhysicsStepSet::NarrowPhase`].
#[derive(SystemSet, Clone, Copy, Debug, PartialEq, Eq, Hash)]
pub enum NarrowPhaseSet {
/// Runs at the start of the narrow phase. Empty by default.
First,
/// Computes contacts between entities and adds them to the [`Collisions`] resource.
CollectCollisions,
/// Responsible for running the [`PostProcessCollisions`] schedule to allow user-defined systems
/// to filter and modify collisions.
///
/// If you want to modify or remove collisions after [`NarrowPhaseSet::CollectCollisions`], you can
/// add custom systems to this set, or to [`PostProcessCollisions`].
PostProcess,
/// Generates [`ContactConstraint`]s and adds them to [`ContactConstraints`].
GenerateConstraints,
/// Runs at the end of the narrow phase. Empty by default.
Last,
}
fn collect_collisions<C: AnyCollider>(
mut narrow_phase: NarrowPhase<C>,
broad_collision_pairs: Res<BroadCollisionPairs>,
time: Res<Time>,
) {
narrow_phase.update(&broad_collision_pairs, time.delta_seconds_adjusted());
}
// TODO: It'd be nice to generate the constraint in the same parallel loop as `collect_collisions`
// to avoid the extra iteration and queries. This is possible, but it wouldn't work with the current
// `PostProcessCollisions` setup.
fn generate_constraints<C: AnyCollider>(
narrow_phase: NarrowPhase<C>,
mut constraints: ResMut<ContactConstraints>,
contact_softness: Res<ContactSoftnessCoefficients>,
time: Res<Time>,
) {
let delta_secs = time.delta_seconds_adjusted();
// TODO: Parallelize.
for contacts in narrow_phase.collisions.get_internal().values() {
let Ok([collider1, collider2]) = narrow_phase
.collider_query
.get_many([contacts.entity1, contacts.entity2])
else {
continue;
};
let body1_bundle = collider1
.parent
.and_then(|p| narrow_phase.body_query.get(p.get()).ok());
let body2_bundle = collider2
.parent
.and_then(|p| narrow_phase.body_query.get(p.get()).ok());
if let (Some((body1, rb_collision_margin1)), Some((body2, rb_collision_margin2))) = (
body1_bundle.map(|(body, rb_collision_margin1, _)| (body, rb_collision_margin1)),
body2_bundle.map(|(body, rb_collision_margin2, _)| (body, rb_collision_margin2)),
) {
// At least one of the bodies must be dynamic for contact constraints
// to be generated.
if !body1.rb.is_dynamic() && !body2.rb.is_dynamic() {
continue;
}
// Use the collider's own collision margin if specified, and fall back to the body's
// collision margin.
//
// The collision margin adds artificial thickness to colliders for performance
// and stability. See the `CollisionMargin` documentation for more details.
let collision_margin1 = collider1
.collision_margin
.or(rb_collision_margin1)
.map_or(0.0, |margin| margin.0);
let collision_margin2 = collider2
.collision_margin
.or(rb_collision_margin2)
.map_or(0.0, |margin| margin.0);
let collision_margin_sum = collision_margin1 + collision_margin2;
// Generate contact constraints for the computed contacts
// and add them to `constraints`.
narrow_phase.generate_constraints(
contacts,
&mut constraints,
&body1,
&body2,
&collider1,
&collider2,
collision_margin_sum,
*contact_softness,
delta_secs,
);
}
}
}
/// A system parameter for managing the narrow phase.
///
/// The narrow phase computes contacts for each intersection pair
/// in [`BroadCollisionPairs`], adds them to the [`Collisions`] resource,
/// and generates [`ContactConstraints`] for the contacts.
#[derive(SystemParam)]
pub struct NarrowPhase<'w, 's, C: AnyCollider> {
parallel_commands: ParallelCommands<'w, 's>,
collider_query: Query<'w, 's, ColliderQuery<C>>,
body_query: Query<
'w,
's,
(
RigidBodyQueryReadOnly,
Option<&'static CollisionMargin>,
Option<&'static SpeculativeMargin>,
),
>,
/// Contacts found by the narrow phase.
pub collisions: ResMut<'w, Collisions>,
/// Configuration options for the narrow phase.
pub config: Res<'w, NarrowPhaseConfig>,
length_unit: Res<'w, PhysicsLengthUnit>,
// These are scaled by the length unit.
default_speculative_margin: Local<'s, Scalar>,
contact_tolerance: Local<'s, Scalar>,
}
impl<'w, 's, C: AnyCollider> NarrowPhase<'w, 's, C> {
/// Updates the narrow phase by computing [`Contacts`] based on [`BroadCollisionPairs`]
/// and adding them to [`Collisions`].
fn update(&mut self, broad_collision_pairs: &[(Entity, Entity)], delta_secs: Scalar) {
// TODO: These scaled versions could be in their own resource
// and updated just before physics every frame.
// Cache default margins scaled by the length unit.
if self.config.is_changed() {
*self.default_speculative_margin =
self.length_unit.0 * self.config.default_speculative_margin;
*self.contact_tolerance = self.length_unit.0 * self.config.contact_tolerance;
}
#[cfg(feature = "parallel")]
{
// TODO: Verify if `par_splat_map` is deterministic. If not, sort the constraints (and collisions).
broad_collision_pairs
.iter()
.par_splat_map(ComputeTaskPool::get(), None, |_i, chunks| {
let mut new_collisions = Vec::<Contacts>::with_capacity(chunks.len());
// Compute contacts for this intersection pair and generate
// contact constraints for them.
for &(entity1, entity2) in chunks {
if let Some(contacts) =
self.handle_entity_pair(entity1, entity2, delta_secs)
{
new_collisions.push(contacts);
}
}
new_collisions
})
.into_iter()
.for_each(|new_collisions| {
// Add the collisions and constraints from each chunk.
self.collisions.extend(new_collisions);
});
}
#[cfg(not(feature = "parallel"))]
{
// Compute contacts for this intersection pair and generate
// contact constraints for them.
for &(entity1, entity2) in broad_collision_pairs {
if let Some(contacts) = self.handle_entity_pair(entity1, entity2, delta_secs) {
self.collisions.insert_collision_pair(contacts);
}
}
}
}
/// Returns the [`Contacts`] between `entity1` and `entity2` if they are intersecting
/// or expected to start intersecting within the next frame. This includes
/// [speculative collision](dynamics::ccd#speculative-collision).
#[allow(clippy::too_many_arguments)]
pub fn handle_entity_pair(
&self,
entity1: Entity,
entity2: Entity,
delta_secs: Scalar,
) -> Option<Contacts> {
let Ok([collider1, collider2]) = self.collider_query.get_many([entity1, entity2]) else {
return None;
};
let body1_bundle = collider1
.parent
.and_then(|p| self.body_query.get(p.get()).ok());
let body2_bundle = collider2
.parent
.and_then(|p| self.body_query.get(p.get()).ok());
// The rigid body's collision margin and speculative margin will be used
// if the collider doesn't have them specified.
let (mut lin_vel1, rb_collision_margin1, rb_speculative_margin1) = body1_bundle
.as_ref()
.map(|(body, collision_margin, speculative_margin)| {
(
body.linear_velocity.0,
*collision_margin,
*speculative_margin,
)
})
.unwrap_or_default();
let (mut lin_vel2, rb_collision_margin2, rb_speculative_margin2) = body2_bundle
.as_ref()
.map(|(body, collision_margin, speculative_margin)| {
(
body.linear_velocity.0,
*collision_margin,
*speculative_margin,
)
})
.unwrap_or_default();
// Use the collider's own collision margin if specified, and fall back to the body's
// collision margin.
//
// The collision margin adds artificial thickness to colliders for performance
// and stability. See the `CollisionMargin` documentation for more details.
let collision_margin1 = collider1
.collision_margin
.or(rb_collision_margin1)
.map_or(0.0, |margin| margin.0);
let collision_margin2 = collider2
.collision_margin
.or(rb_collision_margin2)
.map_or(0.0, |margin| margin.0);
let collision_margin_sum = collision_margin1 + collision_margin2;
// Use the collider's own speculative margin if specified, and fall back to the body's
// speculative margin.
//
// The speculative margin is used to predict contacts that might happen during the frame.
// This is used for speculative collision. See the CCD and `SpeculativeMargin` documentation
// for more details.
let speculative_margin1 = collider1
.speculative_margin
.map_or(rb_speculative_margin1.map(|margin| margin.0), |margin| {
Some(margin.0)
});
let speculative_margin2 = collider2
.speculative_margin
.map_or(rb_speculative_margin2.map(|margin| margin.0), |margin| {
Some(margin.0)
});
// Compute the effective speculative margin, clamping it based on velocities and the maximum bound.
let effective_speculative_margin = {
let speculative_margin1 =
speculative_margin1.unwrap_or(*self.default_speculative_margin);
let speculative_margin2 =
speculative_margin2.unwrap_or(*self.default_speculative_margin);
let inv_delta_secs = delta_secs.recip();
// Clamp velocities to the maximum speculative margins.
if speculative_margin1 < Scalar::MAX {
lin_vel1 = lin_vel1.clamp_length_max(speculative_margin1 * inv_delta_secs);
}
if speculative_margin2 < Scalar::MAX {
lin_vel2 = lin_vel2.clamp_length_max(speculative_margin2 * inv_delta_secs);
}
// TODO: Check if AABBs intersect?
// Compute the effective margin based on how much the bodies
// are expected to move relative to each other.
delta_secs * (lin_vel1 - lin_vel2).length()
};
// The maximum distance at which contacts are detected.
// At least as large as the contact tolerance.
let max_contact_distance =
effective_speculative_margin.max(*self.contact_tolerance) + collision_margin_sum;
self.compute_contact_pair(&collider1, &collider2, max_contact_distance)
}
/// Computes contacts between `collider1` and `collider2`.
/// Returns `None` if no contacts are found.
///
/// The given `max_distance` determines the maximum distance for a contact
/// to be detected. A value greater than zero means that contacts are generated
/// based on the closest points even if the shapes are separated.
#[allow(clippy::type_complexity, clippy::too_many_arguments)]
pub fn compute_contact_pair(
&self,
collider1: &ColliderQueryItem<C>,
collider2: &ColliderQueryItem<C>,
max_distance: Scalar,
) -> Option<Contacts> {
let position1 = collider1.current_position();
let position2 = collider2.current_position();
// TODO: It'd be good to persist the manifolds and let Parry match contacts.
// This isn't currently done because it requires using Parry's contact manifold type.
// Compute the contact manifolds using the effective speculative margin.
let mut manifolds = collider1.shape.contact_manifolds(
collider2.shape,
position1,
*collider1.rotation,
position2,
*collider2.rotation,
max_distance,
);
// Get the previous contacts if there are any.
let previous_contacts = self
.collisions
.get_internal()
.get(&(collider1.entity, collider2.entity))
.or(self
.collisions
.get_internal()
.get(&(collider2.entity, collider1.entity)));
let mut total_normal_impulse = 0.0;
let mut total_tangent_impulse = default();
// Match contacts and copy previous contact impulses for warm starting the solver.
// TODO: This condition is pretty arbitrary, mainly to skip dense trimeshes.
// If we let Parry handle contact matching, this wouldn't be needed.
if manifolds.len() <= 4 && self.config.match_contacts {
if let Some(previous_contacts) = previous_contacts {
// TODO: Cache this?
let distance_threshold = 0.1 * self.length_unit.0;
for manifold in manifolds.iter_mut() {
for previous_manifold in previous_contacts.manifolds.iter() {
manifold.match_contacts(&previous_manifold.contacts, distance_threshold);
// Add contact impulses to total impulses.
for contact in manifold.contacts.iter() {
total_normal_impulse += contact.normal_impulse;
total_tangent_impulse += contact.tangent_impulse;
}
}
}
}
}
let contacts = Contacts {
entity1: collider1.entity,
entity2: collider2.entity,
body_entity1: collider1.parent.map(|p| p.get()),
body_entity2: collider2.parent.map(|p| p.get()),
during_current_frame: true,
during_previous_frame: previous_contacts.map_or(false, |c| c.during_previous_frame),
manifolds,
is_sensor: collider1.is_sensor
|| collider2.is_sensor
|| !collider1.is_rb
|| !collider2.is_rb,
total_normal_impulse,
total_tangent_impulse,
};
(!contacts.manifolds.is_empty()).then_some(contacts)
}
/// Generates [`ContactConstraint`]s for the given bodies and their corresponding colliders
/// based on the given `contacts`. The constraints are added to the `constraints` vector.
///
/// The `collision_margin` can be used to add artificial thickness to the colliders,
/// which can improve performance and stability in some cases. See [`CollisionMargin`]
/// for more details.
///
/// The `contact_softness` is used to tune the damping and stiffness of the contact constraints.
#[allow(clippy::too_many_arguments)]
pub fn generate_constraints(
&self,
contacts: &Contacts,
constraints: &mut Vec<ContactConstraint>,
body1: &RigidBodyQueryReadOnlyItem,
body2: &RigidBodyQueryReadOnlyItem,
collider1: &ColliderQueryItem<C>,
collider2: &ColliderQueryItem<C>,
collision_margin: impl Into<CollisionMargin> + Copy,
contact_softness: ContactSoftnessCoefficients,
delta_secs: Scalar,
) {
let inactive1 = body1.rb.is_static() || body1.is_sleeping;
let inactive2 = body2.rb.is_static() || body2.is_sleeping;
// No collision response if both bodies are static or sleeping
// or if either of the colliders is a sensor collider.
if (inactive1 && inactive2)
|| (collider1.is_sensor || body1.is_sensor)
|| (collider2.is_sensor || body2.is_sensor)
{
return;
}
// When an active body collides with a sleeping body, wake up the sleeping body.
self.parallel_commands.command_scope(|mut commands| {
if body1.is_sleeping {
commands.entity(body1.entity).remove::<Sleeping>();
} else if body2.is_sleeping {
commands.entity(body2.entity).remove::<Sleeping>();
}
});
// Get combined friction and restitution coefficients of the colliders
// or the bodies they are attached to.
let friction = collider1
.friction
.unwrap_or(body1.friction)
.combine(*collider2.friction.unwrap_or(body2.friction));
let restitution = collider1
.restitution
.unwrap_or(body1.restitution)
.combine(*collider2.restitution.unwrap_or(body2.restitution));
let contact_softness = if !body1.rb.is_dynamic() || !body2.rb.is_dynamic() {
contact_softness.non_dynamic
} else {
contact_softness.dynamic
};
// Generate contact constraints for each contact.
for (i, contact_manifold) in contacts.manifolds.iter().enumerate() {
let constraint = ContactConstraint::generate(
i,
contact_manifold,
body1,
body2,
collider1.entity,
collider2.entity,
collider1.transform.copied(),
collider2.transform.copied(),
collision_margin,
// TODO: Shouldn't this be the effective speculative margin?
*self.default_speculative_margin,
friction,
restitution,
contact_softness,
self.config.match_contacts,
delta_secs,
);
if !constraint.points.is_empty() {
constraints.push(constraint);
}
}
}
}
#[cfg(debug_assertions)]
fn log_overlap_at_spawn(
collisions: Res<Collisions>,
added_bodies: Query<(Ref<RigidBody>, Option<&Name>, &Position)>,
) {
for contacts in collisions.get_internal().values() {
let Ok([(rb1, name1, position1), (rb2, name2, position2)]) = added_bodies.get_many([
contacts.body_entity1.unwrap_or(contacts.entity1),
contacts.body_entity2.unwrap_or(contacts.entity2),
]) else {
continue;
};
if rb1.is_added() || rb2.is_added() {
// If the RigidBody entity has a name, use that for debug.
let debug_id1 = match name1 {
Some(n) => format!("{:?} ({n})", contacts.entity1),
None => format!("{:?}", contacts.entity1),
};
let debug_id2 = match name2 {
Some(n) => format!("{:?} ({n})", contacts.entity2),
None => format!("{:?}", contacts.entity2),
};
warn!(
"{debug_id1} and {debug_id2} are overlapping at spawn, which can result in explosive behavior.",
);
debug!("{debug_id1} is at {}", position1.0);
debug!("{debug_id2} is at {}", position2.0);
}
}
}
fn remove_ended_collisions(mut collisions: ResMut<Collisions>) {
collisions.retain(|contacts| contacts.during_current_frame);
}
// TODO: The collision state handling feels a bit confusing and error-prone.
// Ideally, the narrow phase wouldn't need to handle it at all, or it would at least be simpler.
/// Resets collision states like `during_current_frame` and `during_previous_frame`.
pub fn reset_collision_states(
mut collisions: ResMut<Collisions>,
query: Query<(Option<&RigidBody>, Has<Sleeping>)>,
) {
for contacts in collisions.get_internal_mut().values_mut() {
contacts.total_normal_impulse = 0.0;
contacts.total_tangent_impulse = default();
if let Ok([(rb1, sleeping1), (rb2, sleeping2)]) = query.get_many([
contacts.body_entity1.unwrap_or(contacts.entity1),
contacts.body_entity2.unwrap_or(contacts.entity2),
]) {
let active1 = !rb1.map_or(false, |rb| rb.is_static()) && !sleeping1;
let active2 = !rb2.map_or(false, |rb| rb.is_static()) && !sleeping2;
// Reset collision states if either of the bodies is active (not static or sleeping)
// Otherwise, the bodies are still in contact.
if active1 || active2 {
contacts.during_previous_frame = true;
contacts.during_current_frame = false;
} else {
contacts.during_previous_frame = true;
contacts.during_current_frame = true;
}
} else {
contacts.during_current_frame = false;
}
}
}
/// Runs the [`PostProcessCollisions`] schedule.
fn run_post_process_collisions_schedule(world: &mut World) {
trace!("running PostProcessCollisions");
world.run_schedule(PostProcessCollisions);
}