294 lines
9.1 KiB
Rust
294 lines
9.1 KiB
Rust
|
use crate::dynamics::{RawIslandManager, RawRigidBodySet};
|
||
|
|
use crate::geometry::RawShape;
|
||
|
|
use crate::math::{RawRotation, RawVector};
|
||
|
|
use crate::utils::{self, FlatHandle};
|
||
|
|
use rapier::prelude::*;
|
||
|
|
use wasm_bindgen::prelude::*;
|
||
|
|
|
||
|
|
// NOTE: this MUST match the same enum on the TS side.
|
||
|
|
enum MassPropsMode {
|
||
|
|
Density = 0,
|
||
|
|
Mass,
|
||
|
|
MassProps,
|
||
|
|
}
|
||
|
|
|
||
|
|
#[wasm_bindgen]
|
||
|
|
pub struct RawColliderSet(pub(crate) ColliderSet);
|
||
|
|
|
||
|
|
impl RawColliderSet {
|
||
|
|
pub(crate) fn map<T>(&self, handle: FlatHandle, f: impl FnOnce(&Collider) -> T) -> T {
|
||
|
|
let collider = self
|
||
|
|
.0
|
||
|
|
.get(utils::collider_handle(handle))
|
||
|
|
.expect("Invalid Collider reference. It may have been removed from the physics World.");
|
||
|
|
f(collider)
|
||
|
|
}
|
||
|
|
|
||
|
|
pub(crate) fn map_mut<T>(
|
||
|
|
&mut self,
|
||
|
|
handle: FlatHandle,
|
||
|
|
f: impl FnOnce(&mut Collider) -> T,
|
||
|
|
) -> T {
|
||
|
|
let collider = self
|
||
|
|
.0
|
||
|
|
.get_mut(utils::collider_handle(handle))
|
||
|
|
.expect("Invalid Collider reference. It may have been removed from the physics World.");
|
||
|
|
f(collider)
|
||
|
|
}
|
||
|
|
|
||
|
|
pub(crate) fn map_pair_mut<T>(
|
||
|
|
&mut self,
|
||
|
|
handle1: FlatHandle,
|
||
|
|
handle2: FlatHandle,
|
||
|
|
f: impl FnOnce(Option<&mut Collider>, Option<&mut Collider>) -> T,
|
||
|
|
) -> T {
|
||
|
|
let (collider1, collider2) = self.0.get_pair_mut(
|
||
|
|
utils::collider_handle(handle1),
|
||
|
|
utils::collider_handle(handle2),
|
||
|
|
);
|
||
|
|
f(collider1, collider2)
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
impl RawColliderSet {
|
||
|
|
// This is a workaround because wasm-bindgen doesn't support the `cfg(feature = ...)`
|
||
|
|
// for the method arguments.
|
||
|
|
pub fn do_create_collider(
|
||
|
|
&mut self,
|
||
|
|
enabled: bool,
|
||
|
|
shape: &RawShape,
|
||
|
|
translation: &RawVector,
|
||
|
|
rotation: &RawRotation,
|
||
|
|
massPropsMode: u32,
|
||
|
|
mass: f32,
|
||
|
|
centerOfMass: &RawVector,
|
||
|
|
#[cfg(feature = "dim2")] principalAngularInertia: f32,
|
||
|
|
#[cfg(feature = "dim3")] principalAngularInertia: &RawVector,
|
||
|
|
#[cfg(feature = "dim3")] angularInertiaFrame: &RawRotation,
|
||
|
|
density: f32,
|
||
|
|
friction: f32,
|
||
|
|
restitution: f32,
|
||
|
|
frictionCombineRule: u32,
|
||
|
|
restitutionCombineRule: u32,
|
||
|
|
isSensor: bool,
|
||
|
|
collisionGroups: u32,
|
||
|
|
solverGroups: u32,
|
||
|
|
activeCollisionTypes: u16,
|
||
|
|
activeHooks: u32,
|
||
|
|
activeEvents: u32,
|
||
|
|
contactForceEventThreshold: f32,
|
||
|
|
contactSkin: f32,
|
||
|
|
hasParent: bool,
|
||
|
|
parent: FlatHandle,
|
||
|
|
bodies: &mut RawRigidBodySet,
|
||
|
|
) -> Option<FlatHandle> {
|
||
|
|
let pos = Isometry::from_parts(translation.0.into(), rotation.0);
|
||
|
|
let mut builder = ColliderBuilder::new(shape.0.clone())
|
||
|
|
.enabled(enabled)
|
||
|
|
.position(pos)
|
||
|
|
.friction(friction)
|
||
|
|
.restitution(restitution)
|
||
|
|
.collision_groups(super::unpack_interaction_groups(collisionGroups))
|
||
|
|
.solver_groups(super::unpack_interaction_groups(solverGroups))
|
||
|
|
.active_hooks(ActiveHooks::from_bits(activeHooks).unwrap_or(ActiveHooks::empty()))
|
||
|
|
.active_events(ActiveEvents::from_bits(activeEvents).unwrap_or(ActiveEvents::empty()))
|
||
|
|
.active_collision_types(
|
||
|
|
ActiveCollisionTypes::from_bits(activeCollisionTypes)
|
||
|
|
.unwrap_or(ActiveCollisionTypes::empty()),
|
||
|
|
)
|
||
|
|
.sensor(isSensor)
|
||
|
|
.friction_combine_rule(super::combine_rule_from_u32(frictionCombineRule))
|
||
|
|
.restitution_combine_rule(super::combine_rule_from_u32(restitutionCombineRule))
|
||
|
|
.contact_force_event_threshold(contactForceEventThreshold)
|
||
|
|
.contact_skin(contactSkin);
|
||
|
|
|
||
|
|
if massPropsMode == MassPropsMode::MassProps as u32 {
|
||
|
|
#[cfg(feature = "dim2")]
|
||
|
|
let mprops = MassProperties::new(centerOfMass.0.into(), mass, principalAngularInertia);
|
||
|
|
#[cfg(feature = "dim3")]
|
||
|
|
let mprops = MassProperties::with_principal_inertia_frame(
|
||
|
|
centerOfMass.0.into(),
|
||
|
|
mass,
|
||
|
|
principalAngularInertia.0,
|
||
|
|
angularInertiaFrame.0,
|
||
|
|
);
|
||
|
|
builder = builder.mass_properties(mprops);
|
||
|
|
} else if massPropsMode == MassPropsMode::Density as u32 {
|
||
|
|
builder = builder.density(density);
|
||
|
|
} else {
|
||
|
|
assert_eq!(massPropsMode, MassPropsMode::Mass as u32);
|
||
|
|
builder = builder.mass(mass);
|
||
|
|
};
|
||
|
|
|
||
|
|
let collider = builder.build();
|
||
|
|
|
||
|
|
if hasParent {
|
||
|
|
Some(utils::flat_handle(
|
||
|
|
self.0
|
||
|
|
.insert_with_parent(collider, utils::body_handle(parent), &mut bodies.0)
|
||
|
|
.0,
|
||
|
|
))
|
||
|
|
} else {
|
||
|
|
Some(utils::flat_handle(self.0.insert(collider).0))
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#[wasm_bindgen]
|
||
|
|
impl RawColliderSet {
|
||
|
|
#[wasm_bindgen(constructor)]
|
||
|
|
pub fn new() -> Self {
|
||
|
|
RawColliderSet(ColliderSet::new())
|
||
|
|
}
|
||
|
|
|
||
|
|
pub fn len(&self) -> usize {
|
||
|
|
self.0.len()
|
||
|
|
}
|
||
|
|
|
||
|
|
pub fn contains(&self, handle: FlatHandle) -> bool {
|
||
|
|
self.0.get(utils::collider_handle(handle)).is_some()
|
||
|
|
}
|
||
|
|
|
||
|
|
#[cfg(feature = "dim2")]
|
||
|
|
pub fn createCollider(
|
||
|
|
&mut self,
|
||
|
|
enabled: bool,
|
||
|
|
shape: &RawShape,
|
||
|
|
translation: &RawVector,
|
||
|
|
rotation: &RawRotation,
|
||
|
|
massPropsMode: u32,
|
||
|
|
mass: f32,
|
||
|
|
centerOfMass: &RawVector,
|
||
|
|
principalAngularInertia: f32,
|
||
|
|
density: f32,
|
||
|
|
friction: f32,
|
||
|
|
restitution: f32,
|
||
|
|
frictionCombineRule: u32,
|
||
|
|
restitutionCombineRule: u32,
|
||
|
|
isSensor: bool,
|
||
|
|
collisionGroups: u32,
|
||
|
|
solverGroups: u32,
|
||
|
|
activeCollisionTypes: u16,
|
||
|
|
activeHooks: u32,
|
||
|
|
activeEvents: u32,
|
||
|
|
contactForceEventThreshold: f32,
|
||
|
|
contactSkin: f32,
|
||
|
|
hasParent: bool,
|
||
|
|
parent: FlatHandle,
|
||
|
|
bodies: &mut RawRigidBodySet,
|
||
|
|
) -> Option<FlatHandle> {
|
||
|
|
self.do_create_collider(
|
||
|
|
enabled,
|
||
|
|
shape,
|
||
|
|
translation,
|
||
|
|
rotation,
|
||
|
|
massPropsMode,
|
||
|
|
mass,
|
||
|
|
centerOfMass,
|
||
|
|
principalAngularInertia,
|
||
|
|
density,
|
||
|
|
friction,
|
||
|
|
restitution,
|
||
|
|
frictionCombineRule,
|
||
|
|
restitutionCombineRule,
|
||
|
|
isSensor,
|
||
|
|
collisionGroups,
|
||
|
|
solverGroups,
|
||
|
|
activeCollisionTypes,
|
||
|
|
activeHooks,
|
||
|
|
activeEvents,
|
||
|
|
contactForceEventThreshold,
|
||
|
|
contactSkin,
|
||
|
|
hasParent,
|
||
|
|
parent,
|
||
|
|
bodies,
|
||
|
|
)
|
||
|
|
}
|
||
|
|
|
||
|
|
#[cfg(feature = "dim3")]
|
||
|
|
pub fn createCollider(
|
||
|
|
&mut self,
|
||
|
|
enabled: bool,
|
||
|
|
shape: &RawShape,
|
||
|
|
translation: &RawVector,
|
||
|
|
rotation: &RawRotation,
|
||
|
|
massPropsMode: u32,
|
||
|
|
mass: f32,
|
||
|
|
centerOfMass: &RawVector,
|
||
|
|
principalAngularInertia: &RawVector,
|
||
|
|
angularInertiaFrame: &RawRotation,
|
||
|
|
density: f32,
|
||
|
|
friction: f32,
|
||
|
|
restitution: f32,
|
||
|
|
frictionCombineRule: u32,
|
||
|
|
restitutionCombineRule: u32,
|
||
|
|
isSensor: bool,
|
||
|
|
collisionGroups: u32,
|
||
|
|
solverGroups: u32,
|
||
|
|
activeCollisionTypes: u16,
|
||
|
|
activeHooks: u32,
|
||
|
|
activeEvents: u32,
|
||
|
|
contactForceEventThreshold: f32,
|
||
|
|
contactSkin: f32,
|
||
|
|
hasParent: bool,
|
||
|
|
parent: FlatHandle,
|
||
|
|
bodies: &mut RawRigidBodySet,
|
||
|
|
) -> Option<FlatHandle> {
|
||
|
|
self.do_create_collider(
|
||
|
|
enabled,
|
||
|
|
shape,
|
||
|
|
translation,
|
||
|
|
rotation,
|
||
|
|
massPropsMode,
|
||
|
|
mass,
|
||
|
|
centerOfMass,
|
||
|
|
principalAngularInertia,
|
||
|
|
angularInertiaFrame,
|
||
|
|
density,
|
||
|
|
friction,
|
||
|
|
restitution,
|
||
|
|
frictionCombineRule,
|
||
|
|
restitutionCombineRule,
|
||
|
|
isSensor,
|
||
|
|
collisionGroups,
|
||
|
|
solverGroups,
|
||
|
|
activeCollisionTypes,
|
||
|
|
activeHooks,
|
||
|
|
activeEvents,
|
||
|
|
contactForceEventThreshold,
|
||
|
|
contactSkin,
|
||
|
|
hasParent,
|
||
|
|
parent,
|
||
|
|
bodies,
|
||
|
|
)
|
||
|
|
}
|
||
|
|
|
||
|
|
/// Removes a collider from this set and wake-up the rigid-body it is attached to.
|
||
|
|
pub fn remove(
|
||
|
|
&mut self,
|
||
|
|
handle: FlatHandle,
|
||
|
|
islands: &mut RawIslandManager,
|
||
|
|
bodies: &mut RawRigidBodySet,
|
||
|
|
wakeUp: bool,
|
||
|
|
) {
|
||
|
|
let handle = utils::collider_handle(handle);
|
||
|
|
self.0.remove(handle, &mut islands.0, &mut bodies.0, wakeUp);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// Checks if a collider with the given integer handle exists.
|
||
|
|
pub fn isHandleValid(&self, handle: FlatHandle) -> bool {
|
||
|
|
self.0.get(utils::collider_handle(handle)).is_some()
|
||
|
|
}
|
||
|
|
|
||
|
|
/// Applies the given JavaScript function to the integer handle of each collider managed by this collider set.
|
||
|
|
///
|
||
|
|
/// # Parameters
|
||
|
|
/// - `f(handle)`: the function to apply to the integer handle of each collider managed by this collider set. Called as `f(handle)`.
|
||
|
|
pub fn forEachColliderHandle(&self, f: &js_sys::Function) {
|
||
|
|
let this = JsValue::null();
|
||
|
|
for (handle, _) in self.0.iter() {
|
||
|
|
let _ = f.call1(&this, &JsValue::from(utils::flat_handle(handle.0)));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|