#[cfg(feature = "parallel")]
use rayon::prelude::*;
use crate::data::pubsub::Subscription;
use crate::data::Coarena;
use crate::dynamics::{BodyPair, CoefficientCombineRule, RigidBodySet};
use crate::geometry::collider::ColliderChanges;
use crate::geometry::{
BroadPhasePairEvent, ColliderGraphIndex, ColliderHandle, ColliderPair, ColliderSet,
ContactData, ContactEvent, ContactManifold, ContactManifoldData, ContactPair, InteractionGraph,
IntersectionEvent, RemovedCollider, SolverContact, SolverFlags,
};
use crate::math::{Real, Vector};
use crate::pipeline::{
ContactModificationContext, EventHandler, PairFilterContext, PhysicsHooks, PhysicsHooksFlags,
};
use parry::query::{DefaultQueryDispatcher, PersistentQueryDispatcher};
use parry::utils::IsometryOpt;
use std::collections::HashMap;
use std::sync::Arc;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
struct ColliderGraphIndices {
contact_graph_index: ColliderGraphIndex,
intersection_graph_index: ColliderGraphIndex,
}
impl ColliderGraphIndices {
fn invalid() -> Self {
Self {
contact_graph_index: InteractionGraph::<(), ()>::invalid_graph_index(),
intersection_graph_index: InteractionGraph::<(), ()>::invalid_graph_index(),
}
}
}
#[derive(Copy, Clone, PartialEq, Eq)]
enum PairRemovalMode {
FromContactGraph,
FromIntersectionGraph,
Auto,
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
pub struct NarrowPhase {
#[cfg_attr(
feature = "serde-serialize",
serde(skip, default = "crate::geometry::default_persistent_query_dispatcher")
)]
query_dispatcher: Arc<dyn PersistentQueryDispatcher<ContactManifoldData, ContactData>>,
contact_graph: InteractionGraph<ColliderHandle, ContactPair>,
intersection_graph: InteractionGraph<ColliderHandle, bool>,
graph_indices: Coarena<ColliderGraphIndices>,
removed_colliders: Option<Subscription<RemovedCollider>>,
}
pub(crate) type ContactManifoldIndex = usize;
impl NarrowPhase {
pub fn new() -> Self {
Self::with_query_dispatcher(DefaultQueryDispatcher)
}
pub fn with_query_dispatcher<D>(d: D) -> Self
where
D: 'static + PersistentQueryDispatcher<ContactManifoldData, ContactData>,
{
Self {
query_dispatcher: Arc::new(d),
contact_graph: InteractionGraph::new(),
intersection_graph: InteractionGraph::new(),
graph_indices: Coarena::new(),
removed_colliders: None,
}
}
pub fn query_dispatcher(
&self,
) -> &dyn PersistentQueryDispatcher<ContactManifoldData, ContactData> {
&*self.query_dispatcher
}
pub fn contact_graph(&self) -> &InteractionGraph<ColliderHandle, ContactPair> {
&self.contact_graph
}
pub fn intersection_graph(&self) -> &InteractionGraph<ColliderHandle, bool> {
&self.intersection_graph
}
pub fn contacts_with(
&self,
collider: ColliderHandle,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>> {
let id = self.graph_indices.get(collider.0)?;
Some(self.contact_graph.interactions_with(id.contact_graph_index))
}
pub fn intersections_with(
&self,
collider: ColliderHandle,
) -> Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_> {
let id = self.graph_indices.get(collider.0)?;
Some(
self.intersection_graph
.interactions_with(id.intersection_graph_index)
.map(|e| (e.0, e.1, *e.2)),
)
}
pub fn contact_pair(
&self,
collider1: ColliderHandle,
collider2: ColliderHandle,
) -> Option<&ContactPair> {
let id1 = self.graph_indices.get(collider1.0)?;
let id2 = self.graph_indices.get(collider2.0)?;
self.contact_graph
.interaction_pair(id1.contact_graph_index, id2.contact_graph_index)
.map(|c| c.2)
}
pub fn intersection_pair(
&self,
collider1: ColliderHandle,
collider2: ColliderHandle,
) -> Option<bool> {
let id1 = self.graph_indices.get(collider1.0)?;
let id2 = self.graph_indices.get(collider2.0)?;
self.intersection_graph
.interaction_pair(id1.intersection_graph_index, id2.intersection_graph_index)
.map(|c| *c.2)
}
pub fn contact_pairs(&self) -> impl Iterator<Item = &ContactPair> {
self.contact_graph.interactions()
}
pub fn intersection_pairs(
&self,
) -> impl Iterator<Item = (ColliderHandle, ColliderHandle, bool)> + '_ {
self.intersection_graph
.interactions_with_endpoints()
.map(|e| (e.0, e.1, *e.2))
}
pub fn handle_user_changes(
&mut self,
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
events: &dyn EventHandler,
) {
if self.removed_colliders.is_none() {
self.removed_colliders = Some(colliders.removed_colliders.subscribe());
}
let cursor = self.removed_colliders.take().unwrap();
let mut prox_id_remap = HashMap::new();
let mut contact_id_remap = HashMap::new();
let mut i = 0;
while let Some(collider) = colliders.removed_colliders.read_ith(&cursor, i) {
if let Some(graph_idx) = self.graph_indices.get(collider.handle.0) {
let intersection_graph_id = prox_id_remap
.get(&collider.handle)
.copied()
.unwrap_or(graph_idx.intersection_graph_index);
let contact_graph_id = contact_id_remap
.get(&collider.handle)
.copied()
.unwrap_or(graph_idx.contact_graph_index);
self.remove_collider(
intersection_graph_id,
contact_graph_id,
colliders,
bodies,
&mut prox_id_remap,
&mut contact_id_remap,
);
}
i += 1;
}
colliders.removed_colliders.ack(&cursor);
self.removed_colliders = Some(cursor);
self.handle_modified_colliders(colliders, bodies, events);
}
pub(crate) fn remove_collider(
&mut self,
intersection_graph_id: ColliderGraphIndex,
contact_graph_id: ColliderGraphIndex,
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
prox_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
contact_id_remap: &mut HashMap<ColliderHandle, ColliderGraphIndex>,
) {
for (a, b, _) in self.contact_graph.interactions_with(contact_graph_id) {
if let Some(parent) = colliders.get(a).map(|c| c.parent) {
bodies.wake_up(parent, true)
}
if let Some(parent) = colliders.get(b).map(|c| c.parent) {
bodies.wake_up(parent, true)
}
}
if let Some(replacement) = self.intersection_graph.remove_node(intersection_graph_id) {
if let Some(replacement) = self.graph_indices.get_mut(replacement.0) {
replacement.intersection_graph_index = intersection_graph_id;
} else {
prox_id_remap.insert(replacement, intersection_graph_id);
}
}
if let Some(replacement) = self.contact_graph.remove_node(contact_graph_id) {
if let Some(replacement) = self.graph_indices.get_mut(replacement.0) {
replacement.contact_graph_index = contact_graph_id;
} else {
contact_id_remap.insert(replacement, contact_graph_id);
}
}
}
pub(crate) fn handle_modified_colliders(
&mut self,
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
events: &dyn EventHandler,
) {
let mut pairs_to_remove = vec![];
colliders.foreach_modified_colliders(|handle, collider| {
if collider.changes.needs_narrow_phase_update() {
return;
}
if let Some(gid) = self.graph_indices.get(handle.0) {
bodies.wake_up(collider.parent, true);
for inter in self
.contact_graph
.interactions_with(gid.contact_graph_index)
{
let other_handle = if handle == inter.0 { inter.1 } else { inter.0 };
if let Some(other_collider) = colliders.get(other_handle) {
bodies.wake_up(other_collider.parent, true);
}
}
if collider.changes.contains(ColliderChanges::SENSOR) {
if collider.is_sensor() {
for inter in self
.contact_graph
.interactions_with(gid.contact_graph_index)
{
pairs_to_remove.push((
ColliderPair::new(inter.0, inter.1),
PairRemovalMode::FromContactGraph,
));
}
} else {
for inter in self
.intersection_graph
.interactions_with(gid.intersection_graph_index)
.filter(|(h1, h2, _)| {
!colliders[*h1].is_sensor() && !colliders[*h2].is_sensor()
})
{
pairs_to_remove.push((
ColliderPair::new(inter.0, inter.1),
PairRemovalMode::FromIntersectionGraph,
));
}
}
}
}
});
for pair in &pairs_to_remove {
self.remove_pair(colliders, bodies, &pair.0, events, pair.1);
}
for pair in pairs_to_remove {
self.add_pair(colliders, &pair.0);
}
}
fn remove_pair(
&mut self,
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
pair: &ColliderPair,
events: &dyn EventHandler,
mode: PairRemovalMode,
) {
if let (Some(co1), Some(co2)) =
(colliders.get(pair.collider1), colliders.get(pair.collider2))
{
if let (Some(gid1), Some(gid2)) = (
self.graph_indices.get(pair.collider1.0),
self.graph_indices.get(pair.collider2.0),
) {
if mode == PairRemovalMode::FromIntersectionGraph
|| (mode == PairRemovalMode::Auto && (co1.is_sensor() || co2.is_sensor()))
{
let was_intersecting = self
.intersection_graph
.remove_edge(gid1.intersection_graph_index, gid2.intersection_graph_index);
if Some(true) == was_intersecting {
let prox_event =
IntersectionEvent::new(pair.collider1, pair.collider2, false);
events.handle_intersection_event(prox_event)
}
} else {
let contact_pair = self
.contact_graph
.remove_edge(gid1.contact_graph_index, gid2.contact_graph_index);
if let Some(ctct) = contact_pair {
if ctct.has_any_active_contact {
bodies.wake_up(co1.parent, true);
bodies.wake_up(co2.parent, true);
events.handle_contact_event(ContactEvent::Stopped(
pair.collider1,
pair.collider2,
))
}
}
}
}
}
}
fn add_pair(&mut self, colliders: &mut ColliderSet, pair: &ColliderPair) {
if let (Some(co1), Some(co2)) =
(colliders.get(pair.collider1), colliders.get(pair.collider2))
{
if co1.parent == co2.parent {
return;
}
let (gid1, gid2) = self.graph_indices.ensure_pair_exists(
pair.collider1.0,
pair.collider2.0,
ColliderGraphIndices::invalid(),
);
if co1.is_sensor() || co2.is_sensor() {
if !InteractionGraph::<(), ()>::is_graph_index_valid(gid1.intersection_graph_index)
{
gid1.intersection_graph_index =
self.intersection_graph.graph.add_node(pair.collider1);
}
if !InteractionGraph::<(), ()>::is_graph_index_valid(gid2.intersection_graph_index)
{
gid2.intersection_graph_index =
self.intersection_graph.graph.add_node(pair.collider2);
}
if self
.intersection_graph
.graph
.find_edge(gid1.intersection_graph_index, gid2.intersection_graph_index)
.is_none()
{
let _ = self.intersection_graph.add_edge(
gid1.intersection_graph_index,
gid2.intersection_graph_index,
false,
);
}
} else {
if !InteractionGraph::<(), ()>::is_graph_index_valid(gid1.contact_graph_index) {
gid1.contact_graph_index = self.contact_graph.graph.add_node(pair.collider1);
}
if !InteractionGraph::<(), ()>::is_graph_index_valid(gid2.contact_graph_index) {
gid2.contact_graph_index = self.contact_graph.graph.add_node(pair.collider2);
}
if self
.contact_graph
.graph
.find_edge(gid1.contact_graph_index, gid2.contact_graph_index)
.is_none()
{
let interaction = ContactPair::new(*pair);
let _ = self.contact_graph.add_edge(
gid1.contact_graph_index,
gid2.contact_graph_index,
interaction,
);
}
}
}
}
pub(crate) fn register_pairs(
&mut self,
colliders: &mut ColliderSet,
bodies: &mut RigidBodySet,
broad_phase_events: &[BroadPhasePairEvent],
events: &dyn EventHandler,
) {
for event in broad_phase_events {
match event {
BroadPhasePairEvent::AddPair(pair) => {
self.add_pair(colliders, pair);
}
BroadPhasePairEvent::DeletePair(pair) => {
self.remove_pair(colliders, bodies, pair, events, PairRemovalMode::Auto);
}
}
}
}
pub(crate) fn compute_intersections(
&mut self,
bodies: &RigidBodySet,
colliders: &ColliderSet,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
if !colliders.contains_any_modified_collider() {
return;
}
let nodes = &self.intersection_graph.graph.nodes;
let query_dispatcher = &*self.query_dispatcher;
let active_hooks = hooks.active_hooks();
par_iter_mut!(&mut self.intersection_graph.graph.edges).for_each(|edge| {
let handle1 = nodes[edge.source().index()].weight;
let handle2 = nodes[edge.target().index()].weight;
let co1 = &colliders[handle1];
let co2 = &colliders[handle2];
if !co1.changes.needs_narrow_phase_update() && !co2.changes.needs_narrow_phase_update()
{
return;
}
let rb1 = &bodies[co1.parent];
let rb2 = &bodies[co2.parent];
if (rb1.is_sleeping() && rb2.is_static())
|| (rb2.is_sleeping() && rb1.is_static())
|| (rb1.is_sleeping() && rb2.is_sleeping())
{
return;
}
if !co1.collision_groups.test(co2.collision_groups) {
return;
}
if !active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR)
&& !rb1.is_dynamic()
&& !rb2.is_dynamic()
{
return;
}
if active_hooks.contains(PhysicsHooksFlags::FILTER_INTERSECTION_PAIR) {
let context = PairFilterContext {
rigid_body1: rb1,
rigid_body2: rb2,
collider_handle1: handle1,
collider_handle2: handle2,
collider1: co1,
collider2: co2,
};
if !hooks.filter_intersection_pair(&context) {
return;
}
}
let pos12 = co1.position().inv_mul(co2.position());
if let Ok(intersection) =
query_dispatcher.intersection_test(&pos12, co1.shape(), co2.shape())
{
if intersection != edge.weight {
edge.weight = intersection;
events.handle_intersection_event(IntersectionEvent::new(
handle1,
handle2,
intersection,
));
}
}
});
}
pub(crate) fn compute_contacts(
&mut self,
prediction_distance: Real,
bodies: &RigidBodySet,
colliders: &ColliderSet,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler,
) {
if !colliders.contains_any_modified_collider() {
return;
}
let query_dispatcher = &*self.query_dispatcher;
let active_hooks = hooks.active_hooks();
par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
let pair = &mut edge.weight;
let co1 = &colliders[pair.pair.collider1];
let co2 = &colliders[pair.pair.collider2];
if !co1.changes.needs_narrow_phase_update() && !co2.changes.needs_narrow_phase_update()
{
return;
}
let rb1 = &bodies[co1.parent];
let rb2 = &bodies[co2.parent];
if (rb1.is_sleeping() && rb2.is_static())
|| (rb2.is_sleeping() && rb1.is_static())
|| (rb1.is_sleeping() && rb2.is_sleeping())
{
return;
}
if !co1.collision_groups.test(co2.collision_groups) {
return;
}
if !active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
&& !rb1.is_dynamic()
&& !rb2.is_dynamic()
{
return;
}
let mut solver_flags = if active_hooks.contains(PhysicsHooksFlags::FILTER_CONTACT_PAIR)
{
let context = PairFilterContext {
rigid_body1: rb1,
rigid_body2: rb2,
collider_handle1: pair.pair.collider1,
collider_handle2: pair.pair.collider2,
collider1: co1,
collider2: co2,
};
if let Some(solver_flags) = hooks.filter_contact_pair(&context) {
solver_flags
} else {
return;
}
} else {
co1.solver_flags | co2.solver_flags
};
if !co1.solver_groups.test(co2.solver_groups) {
solver_flags.remove(SolverFlags::COMPUTE_IMPULSES);
}
if co1.changes.contains(ColliderChanges::SHAPE)
|| co2.changes.contains(ColliderChanges::SHAPE)
{
pair.workspace = None;
}
let pos12 = co1.position().inv_mul(co2.position());
let _ = query_dispatcher.contact_manifolds(
&pos12,
co1.shape(),
co2.shape(),
prediction_distance,
&mut pair.manifolds,
&mut pair.workspace,
);
let mut has_any_active_contact = false;
let friction = CoefficientCombineRule::combine(
co1.friction,
co2.friction,
co1.flags.friction_combine_rule_value(),
co2.flags.friction_combine_rule_value(),
);
let restitution = CoefficientCombineRule::combine(
co1.restitution,
co2.restitution,
co1.flags.restitution_combine_rule_value(),
co2.flags.restitution_combine_rule_value(),
);
for manifold in &mut pair.manifolds {
let world_pos1 = manifold.subshape_pos1.prepend_to(co1.position());
manifold.data.solver_contacts.clear();
manifold.data.body_pair = BodyPair::new(co1.parent(), co2.parent());
manifold.data.solver_flags = solver_flags;
manifold.data.relative_dominance =
rb1.effective_dominance_group() - rb2.effective_dominance_group();
manifold.data.normal = world_pos1 * manifold.local_n1;
for (contact_id, contact) in manifold.points.iter().enumerate() {
assert!(
contact_id <= u8::MAX as usize,
"A contact manifold cannot contain more than 255 contacts currently."
);
if contact.dist < prediction_distance {
let solver_contact = SolverContact {
contact_id: contact_id as u8,
point: world_pos1 * contact.local_p1
+ manifold.data.normal * contact.dist / 2.0,
dist: contact.dist,
friction,
restitution,
tangent_velocity: Vector::zeros(),
warmstart_impulse: contact.data.impulse,
warmstart_tangent_impulse: contact.data.tangent_impulse,
prev_rhs: contact.data.rhs,
};
manifold.data.solver_contacts.push(solver_contact);
has_any_active_contact = true;
}
}
if active_hooks.contains(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
&& manifold
.data
.solver_flags
.contains(SolverFlags::MODIFY_SOLVER_CONTACTS)
{
let mut modifiable_solver_contacts =
std::mem::replace(&mut manifold.data.solver_contacts, Vec::new());
let mut modifiable_user_data = manifold.data.user_data;
let mut modifiable_normal = manifold.data.normal;
let mut context = ContactModificationContext {
rigid_body1: rb1,
rigid_body2: rb2,
collider_handle1: pair.pair.collider1,
collider_handle2: pair.pair.collider2,
collider1: co1,
collider2: co2,
manifold,
solver_contacts: &mut modifiable_solver_contacts,
normal: &mut modifiable_normal,
user_data: &mut modifiable_user_data,
};
hooks.modify_solver_contacts(&mut context);
manifold.data.solver_contacts = modifiable_solver_contacts;
manifold.data.normal = modifiable_normal;
manifold.data.user_data = modifiable_user_data;
}
}
if has_any_active_contact != pair.has_any_active_contact {
if has_any_active_contact {
events.handle_contact_event(ContactEvent::Started(
pair.pair.collider1,
pair.pair.collider2,
));
} else {
events.handle_contact_event(ContactEvent::Stopped(
pair.pair.collider1,
pair.pair.collider2,
));
}
pair.has_any_active_contact = has_any_active_contact;
}
});
}
pub(crate) fn select_active_contacts<'a>(
&'a mut self,
bodies: &RigidBodySet,
out_manifolds: &mut Vec<&'a mut ContactManifold>,
out: &mut Vec<Vec<ContactManifoldIndex>>,
) {
for out_island in &mut out[..bodies.num_islands()] {
out_island.clear();
}
for inter in self.contact_graph.graph.edges.iter_mut() {
for manifold in &mut inter.weight.manifolds {
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
if manifold
.data
.solver_flags
.contains(SolverFlags::COMPUTE_IMPULSES)
&& manifold.data.num_active_contacts() != 0
&& (rb1.is_dynamic() || rb2.is_dynamic())
&& (!rb1.is_dynamic() || !rb1.is_sleeping())
&& (!rb2.is_dynamic() || !rb2.is_sleeping())
{
let island_index = if !rb1.is_dynamic() {
rb2.active_island_id
} else {
rb1.active_island_id
};
out[island_index].push(out_manifolds.len());
out_manifolds.push(manifold);
}
}
}
}
}