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//! Physics pipeline structures.

use crate::dynamics::{JointSet, RigidBodySet};
use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, 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(
        &mut self,
        prediction_distance: Real,
        broad_phase: &mut BroadPhase,
        narrow_phase: &mut NarrowPhase,
        bodies: &mut RigidBodySet,
        colliders: &mut ColliderSet,
        hooks: &dyn PhysicsHooks,
        events: &dyn EventHandler,
    ) {
        colliders.handle_user_changes(bodies);
        bodies.handle_user_changes(colliders);
        self.broadphase_collider_pairs.clear();

        self.broad_phase_events.clear();
        broad_phase.update(prediction_distance, colliders, &mut self.broad_phase_events);

        narrow_phase.handle_user_changes(colliders, bodies, events);
        narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
        narrow_phase.compute_contacts(prediction_distance, bodies, colliders, hooks, events);
        narrow_phase.compute_intersections(bodies, colliders, hooks, events);

        bodies.update_active_set_with_contacts(
            colliders,
            narrow_phase,
            self.empty_joints.joint_graph(),
            128,
        );

        // Update colliders positions and kinematic bodies positions.
        bodies.foreach_active_body_mut_internal(|_, rb| {
            rb.position = rb.next_position;
            rb.update_colliders_positions(colliders);

            for handle in &rb.colliders {
                let collider = colliders.get_mut_internal(*handle).unwrap();
                collider.position = rb.position * collider.delta;
            }
        });

        bodies.modified_inactive_set.clear();
    }
}