rapier3d/pipeline/user_changes.rs
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use crate::dynamics::{
ImpulseJointSet, IslandManager, JointEnabled, MultibodyJointSet, RigidBodyChanges,
RigidBodyHandle, RigidBodySet, RigidBodyType,
};
use crate::geometry::{
ColliderChanges, ColliderEnabled, ColliderHandle, ColliderPosition, ColliderSet,
};
pub(crate) fn handle_user_changes_to_colliders(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
modified_colliders: &[ColliderHandle],
) {
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.intersects(
ColliderChanges::SHAPE
| ColliderChanges::LOCAL_MASS_PROPERTIES
| ColliderChanges::ENABLED_OR_DISABLED
| ColliderChanges::PARENT,
) {
if let Some(rb) = co
.parent
.and_then(|p| bodies.get_mut_internal_with_modification_tracking(p.handle))
{
rb.changes |= RigidBodyChanges::LOCAL_MASS_PROPERTIES;
}
}
}
}
}
pub(crate) fn handle_user_changes_to_rigid_bodies(
mut islands: Option<&mut IslandManager>,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
_multibody_joints: &mut MultibodyJointSet, // FIXME: propagate disabled state to multibodies
modified_bodies: &[RigidBodyHandle],
modified_colliders: &mut Vec<ColliderHandle>,
) {
enum FinalAction {
UpdateActiveKinematicSetId(usize),
UpdateActiveDynamicSetId(usize),
RemoveFromIsland,
}
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 ids = rb.ids;
let changes = rb.changes;
let activation = rb.activation;
{
if rb.is_enabled() {
// 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,
));
}
}
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 active kinematic set.
if (changes.contains(RigidBodyChanges::POSITION)
|| changes.contains(RigidBodyChanges::COLLIDERS))
&& 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 inside the active set yet, and
// is either not longer sleeping or became dynamic.
if (changes.contains(RigidBodyChanges::SLEEP) || changes.contains(RigidBodyChanges::TYPE))
&& rb.is_enabled()
&& !rb.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);
}
}
}
// 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)
{
for handle in rb.colliders.0.iter() {
// NOTE: we can’t just use `colliders.get_mut_internal_with_modification_tracking`
// here because that would modify the `modified_colliders` inside of the `ColliderSet`
// instead of the one passed to this method.
let co = colliders.index_mut_internal(*handle);
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
co.changes |=
ColliderChanges::MODIFIED | ColliderChanges::PARENT_EFFECTIVE_DOMINANCE;
}
}
if changes.contains(RigidBodyChanges::ENABLED_OR_DISABLED) {
// Propagate the rigid-body’s enabled/disable status to its colliders.
for handle in rb.colliders.0.iter() {
// NOTE: we can’t just use `colliders.get_mut_internal_with_modification_tracking`
// here because that would modify the `modified_colliders` inside of the `ColliderSet`
// instead of the one passed to this method.
let co = colliders.index_mut_internal(*handle);
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
if rb.enabled && co.flags.enabled == ColliderEnabled::DisabledByParent {
co.flags.enabled = ColliderEnabled::Enabled;
} else if !rb.enabled && co.flags.enabled == ColliderEnabled::Enabled {
co.flags.enabled = ColliderEnabled::DisabledByParent;
}
co.changes |= ColliderChanges::MODIFIED | ColliderChanges::ENABLED_OR_DISABLED;
}
// Propagate the rigid-body’s enabled/disable status to its attached impulse joints.
impulse_joints.map_attached_joints_mut(*handle, |_, _, _, joint| {
if rb.enabled && joint.data.enabled == JointEnabled::DisabledByAttachedBody {
joint.data.enabled = JointEnabled::Enabled;
} else if !rb.enabled && joint.data.enabled == JointEnabled::Enabled {
joint.data.enabled = JointEnabled::DisabledByAttachedBody;
}
});
// FIXME: Propagate the rigid-body’s enabled/disable status to its attached multibody joints.
// Remove the rigid-body from the island manager.
if !rb.enabled {
final_action = Some(FinalAction::RemoveFromIsland);
}
}
// NOTE: recompute the mass-properties AFTER dealing with the rigid-body changes
// that imply a collider change (in particular, after propagation of the
// enabled/disabled status).
if changes
.intersects(RigidBodyChanges::LOCAL_MASS_PROPERTIES | RigidBodyChanges::COLLIDERS)
{
rb.mprops.recompute_mass_properties_from_colliders(
colliders,
&rb.colliders,
&rb.pos.position,
);
}
rb.ids = ids;
rb.activation = activation;
}
// Adjust some ids, if needed.
if let Some(islands) = islands.as_deref_mut() {
if let Some(action) = final_action {
match action {
FinalAction::RemoveFromIsland => {
let ids = rb.ids;
islands.rigid_body_removed(*handle, &ids, bodies);
}
FinalAction::UpdateActiveKinematicSetId(id) => {
let active_set = &mut islands.active_kinematic_set;
if id < active_set.len() {
bodies.index_mut_internal(active_set[id]).ids.active_set_id = id;
}
}
FinalAction::UpdateActiveDynamicSetId(id) => {
let active_set = &mut islands.active_dynamic_set;
if id < active_set.len() {
bodies.index_mut_internal(active_set[id]).ids.active_set_id = id;
}
}
};
}
}
}
}