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fix concave shapes for 2d. #155

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merged 2 commits into from
Jul 20, 2024
Merged

fix concave shapes for 2d. #155

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73b039f
fix concave shapes for 2d.
Ughuuu Jul 20, 2024
414947a
lint
Ughuuu Jul 20, 2024
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2 changes: 1 addition & 1 deletion Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ publish = false
crate-type = ["cdylib"]

[features]
default = ["single-dim3", "serde-serialize", "parallel", "simd-stable"]
default = ["single-dim2", "serde-serialize", "parallel", "simd-stable"]
dim2 = []
dim3 = []
single = []
Expand Down
4 changes: 1 addition & 3 deletions src/bodies/rapier_body.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -886,15 +886,14 @@ impl RapierBody {
pub fn force_mass_update(
&mut self,
physics_spaces: &mut PhysicsSpaces,
physics_shapes: &mut PhysicsShapes,
physics_engine: &mut PhysicsEngine,
) {
if self.mass_properties_update_pending {
// Force update internal mass properties to calculate proper impulse
if let Some(space) = physics_spaces.get_mut(&self.base.get_space()) {
space.body_remove_from_mass_properties_update_list(self.base.get_rid());
}
self.update_mass_properties(true, physics_shapes, physics_engine);
self.update_mass_properties(true, physics_engine);
}
}

Expand Down Expand Up @@ -1628,7 +1627,6 @@ impl RapierBody {
pub fn update_mass_properties(
&mut self,
force_update: bool,
physics_shapes: &mut PhysicsShapes,
physics_engine: &mut PhysicsEngine,
) {
self.mass_properties_update_pending = false;
Expand Down
2 changes: 0 additions & 2 deletions src/bodies/rapier_direct_body_state_2d.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,6 @@ use crate::types::*;
#[class(base=PhysicsDirectBodyState2DExtension,tool)]
pub struct RapierDirectBodyState2D {
implementation: RapierDirectBodyStateImpl,
transform: Transform,
base: Base<PhysicsDirectBodyState2DExtension>,
}
impl RapierDirectBodyState2D {
Expand All @@ -22,7 +21,6 @@ impl IPhysicsDirectBodyState2DExtension for RapierDirectBodyState2D {
fn init(base: Base<PhysicsDirectBodyState2DExtension>) -> Self {
Self {
implementation: RapierDirectBodyStateImpl::default(),
transform: Transform::IDENTITY,
base,
}
}
Expand Down
66 changes: 11 additions & 55 deletions src/bodies/rapier_direct_body_state_impl.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -203,11 +203,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_central_impulse(impulse, &mut physics_data.physics_engine)
}
}
Expand All @@ -217,11 +213,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_impulse(impulse, position, &mut physics_data.physics_engine)
}
}
Expand All @@ -231,11 +223,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_torque_impulse(impulse, &mut physics_data.physics_engine)
}
}
Expand All @@ -245,11 +233,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_central_force(force, &mut physics_data.physics_engine)
}
}
Expand All @@ -259,11 +243,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_force(force, position, &mut physics_data.physics_engine)
}
}
Expand All @@ -273,11 +253,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_torque(torque, &mut physics_data.physics_engine)
}
}
Expand All @@ -287,11 +263,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.add_constant_central_force(force, &mut physics_data.physics_engine)
}
}
Expand All @@ -301,11 +273,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.add_constant_force(force, position, &mut physics_data.physics_engine)
}
}
Expand All @@ -315,11 +283,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.add_constant_torque(torque, &mut physics_data.physics_engine)
}
}
Expand All @@ -329,11 +293,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.set_constant_force(force, &mut physics_data.physics_engine)
}
}
Expand All @@ -353,11 +313,7 @@ impl RapierDirectBodyStateImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&self.body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.set_constant_torque(torque, &mut physics_data.physics_engine)
}
}
Expand Down
68 changes: 13 additions & 55 deletions src/servers/rapier_physics_server_impl.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -189,8 +189,10 @@ impl RapierPhysicsServerImpl {
ShapeType::CUSTOM
}

#[cfg(feature = "dim3")]
pub(super) fn shape_set_margin(&mut self, _shape: Rid, _margin: real) {}

#[cfg(feature = "dim3")]
pub(super) fn shape_get_margin(&self, _shape: Rid) -> real {
0.0
}
Expand Down Expand Up @@ -1038,11 +1040,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_central_impulse(impulse, &mut physics_data.physics_engine);
}
}
Expand All @@ -1052,11 +1050,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_torque_impulse(impulse, &mut physics_data.physics_engine);
}
}
Expand All @@ -1066,11 +1060,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_impulse(impulse, position, &mut physics_data.physics_engine);
}
}
Expand All @@ -1080,11 +1070,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_central_force(force, &mut physics_data.physics_engine);
}
}
Expand All @@ -1094,11 +1080,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_force(force, position, &mut physics_data.physics_engine);
}
}
Expand All @@ -1108,11 +1090,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.apply_torque(torque, &mut physics_data.physics_engine);
}
}
Expand All @@ -1122,11 +1100,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.add_constant_central_force(force, &mut physics_data.physics_engine);
}
}
Expand All @@ -1136,11 +1110,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.add_constant_force(force, position, &mut physics_data.physics_engine);
}
}
Expand All @@ -1150,11 +1120,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.add_constant_torque(torque, &mut physics_data.physics_engine);
}
}
Expand All @@ -1164,11 +1130,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.set_constant_force(force, &mut physics_data.physics_engine);
}
}
Expand All @@ -1188,11 +1150,7 @@ impl RapierPhysicsServerImpl {
let physics_data = physics_data();
if let Some(body) = physics_data.collision_objects.get_mut(&body) {
if let Some(body) = body.get_mut_body() {
body.force_mass_update(
&mut physics_data.spaces,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.force_mass_update(&mut physics_data.spaces, &mut physics_data.physics_engine);
body.set_constant_torque(torque, &mut physics_data.physics_engine);
}
}
Expand Down
6 changes: 0 additions & 6 deletions src/servers/rapier_project_settings.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -120,12 +120,6 @@ impl RapierProjectSettings {
setting_value.to::<i64>()
}

fn get_setting_bool(p_setting: &str) -> bool {
let project_settings = ProjectSettings::singleton();
let setting_value = project_settings.get_setting_with_override(p_setting.into());
setting_value.to::<bool>()
}

fn get_setting_double(p_setting: &str) -> f64 {
let project_settings = ProjectSettings::singleton();
let setting_value = project_settings.get_setting_with_override(p_setting.into());
Expand Down
2 changes: 1 addition & 1 deletion src/shapes/rapier_concave_polygon_shape.rs
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Expand Up @@ -81,7 +81,7 @@ impl IRapierShape for RapierConcavePolygonShape {
#[cfg(feature = "dim2")]
VariantType::PACKED_VECTOR2_ARRAY => {
if let Ok(arr) = data.try_to::<PackedVector2Array>() {
let len = self.points.len();
let len = arr.len();
if len == 0 {
return;
}
Expand Down
6 changes: 1 addition & 5 deletions src/spaces/rapier_space.rs
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Expand Up @@ -317,11 +317,7 @@ impl RapierSpace {
if let Some(body) = physics_data.collision_objects.get_mut(body)
&& let Some(body) = body.get_mut_body()
{
body.update_mass_properties(
false,
&mut physics_data.shapes,
&mut physics_data.physics_engine,
);
body.update_mass_properties(false, &mut physics_data.physics_engine);
}
}
space.reset_mass_properties_update_list();
Expand Down
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