Give access to body set in broad phase filter

build/nphysics2d/Cargo.toml

@@ -36,7 +36,7 @@ nalgebra   = { version = "0.22", features = [ "sparse" ] }
 approx     = "0.3"
 downcast-rs = "1"
 bitflags   = "1"
-ncollide2d = "0.24"
+ncollide2d = "0.25"
 instant    = { version = "0.1", features = [ "now" ]}
 
 [target.wasm32-unknown-unknown.dependencies]

build/nphysics3d/Cargo.toml

@@ -37,7 +37,7 @@ nalgebra   = { version = "0.22", features = [ "sparse" ] }
 approx     = "0.3"
 downcast-rs = "1"
 bitflags   = "1"
-ncollide3d = "0.24"
+ncollide3d = "0.25"
 instant    = { version = "0.1", features = [ "now" ]}
 
 

build/nphysics_testbed2d/Cargo.toml

@@ -30,9 +30,9 @@ num-traits = "0.2"
 rand       = "0.7"
 instant    = { version = "0.1", features = [ "stdweb", "now" ]}
 simba      = "0.1"
-nalgebra   = "0.21"
-kiss3d     = { version = "0.24", features = [ "conrod" ] }
-ncollide2d = "0.23"
+nalgebra   = "0.22"
+kiss3d     = { version = "0.26", features = [ "conrod" ] }
+ncollide2d = "0.25"
 wrapped2d  = { version = "0.4", optional = true }
 salva2d = { version = "0.4", features = [ "nphysics" ], optional = true }
 

build/nphysics_testbed3d/Cargo.toml

@@ -28,9 +28,9 @@ num-traits = "0.2"
 rand       = "0.7"
 instant    = { version = "0.1", features = [ "stdweb", "now" ]}
 simba      = "0.1"
-nalgebra   = "0.21"
-kiss3d     = { version = "0.24", features = [ "conrod" ] }
-ncollide3d = "0.23"
+nalgebra   = "0.22"
+kiss3d     = { version = "0.26", features = [ "conrod" ] }
+ncollide3d = "0.25"
 salva3d = { version = "0.4", features = [ "nphysics" ], optional = true }
 
 [dependencies.nphysics3d]

examples2d/Cargo.toml

@@ -11,8 +11,8 @@ improved_fixed_point_support = [ "nphysics2d/improved_fixed_point_support" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra   = "0.21"
-ncollide2d = "0.23"
+nalgebra   = "0.22"
+ncollide2d = "0.25"
 simba      = { version = "0.1", features = [ "partial_fixed_point_support" ]}
 
 [target.wasm32-unknown-unknown.dependencies]

examples2d/broad_phase_filter2.rs

@@ -1,64 +1,71 @@
 extern crate nalgebra as na;
 
-use na::{Isometry2, Point2, Vector2};
+use na::{Isometry2, Point2, RealField, Vector2};
 use ncollide2d::broad_phase::BroadPhasePairFilter;
 use ncollide2d::shape::{Ball, Cuboid, ShapeHandle};
 use nphysics2d::force_generator::DefaultForceGeneratorSet;
 use nphysics2d::joint::DefaultJointConstraintSet;
 use nphysics2d::joint::{FreeJoint, RevoluteJoint};
 use nphysics2d::object::{
-    BodyPartHandle, Collider, ColliderAnchor, ColliderDesc, DefaultBodyHandle, DefaultBodySet,
-    DefaultColliderHandle, DefaultColliderSet, Ground, MultibodyDesc,
+    BodyPartHandle, BodySet, Collider, ColliderAnchor, ColliderDesc, ColliderSet,
+    DefaultBodyHandle, DefaultBodySet, DefaultColliderHandle, DefaultColliderSet, Ground,
+    MultibodyDesc,
 };
-use nphysics2d::world::{DefaultGeometricalWorld, DefaultMechanicalWorld};
+use nphysics2d::world::{BroadPhasePairFilterSets, DefaultGeometricalWorld, DefaultMechanicalWorld};
 use nphysics_testbed2d::Testbed;
 
 struct NoMultibodySelfContactFilter;
 
-impl BroadPhasePairFilter<f32, Collider<f32, DefaultBodyHandle>, DefaultColliderHandle>
+impl<N, Bodies, Colliders> BroadPhasePairFilter<N, BroadPhasePairFilterSets<'_, N, Bodies, Colliders>>
     for NoMultibodySelfContactFilter
+where
+    N: RealField,
+    Bodies: BodySet<N>,
+    Colliders: ColliderSet<N, Bodies::Handle>,
 {
     fn is_pair_valid(
         &self,
-        c1: &Collider<f32, DefaultBodyHandle>,
-        c2: &Collider<f32, DefaultBodyHandle>,
-        _: DefaultColliderHandle,
-        _: DefaultColliderHandle,
+        h1: Colliders::Handle,
+        h2: Colliders::Handle,
+        set: &BroadPhasePairFilterSets<'_, N, Bodies, Colliders>,
     ) -> bool {
-        match (c1.anchor(), c2.anchor()) {
+        let a1 = set.colliders().get(h1).map(|c| c.anchor());
+        let a2 = set.colliders().get(h2).map(|c| c.anchor());
+
+        match (a1, a2) {
             (
-                ColliderAnchor::OnBodyPart {
+                Some(ColliderAnchor::OnBodyPart {
                     body_part: part1, ..
-                },
-                ColliderAnchor::OnBodyPart {
+                }),
+                Some(ColliderAnchor::OnBodyPart {
                     body_part: part2, ..
-                },
+                }),
             ) => part1.0 != part2.0, // Don't collide if the two parts belong to the same body.
             _ => true,
         }
     }
 }
 
-pub fn init_world(testbed: &mut Testbed) {
+/*
+ * NOTE: The `r` macro is only here to convert from f64 to the `N` scalar type.
+ * This simplifies experimentation with various scalar types (f32, fixed-point numbers, etc.)
+ */
+pub fn init_world<N: RealField>(testbed: &mut Testbed<N>) {
     /*
      * World
      */
-    let mechanical_world = DefaultMechanicalWorld::new(Vector2::new(0.0, -9.81));
-    let mut geometrical_world = DefaultGeometricalWorld::new();
+    let mechanical_world = DefaultMechanicalWorld::new(Vector2::new(r!(0.0), r!(-9.81)));
+    let geometrical_world = DefaultGeometricalWorld::new();
     let mut bodies = DefaultBodySet::new();
     let mut colliders = DefaultColliderSet::new();
     let joint_constraints = DefaultJointConstraintSet::new();
     let force_generators = DefaultForceGeneratorSet::new();
 
-    // Setup the custom broad-phase pair filter to prevent contacts between
-    // links belonging to the same multibody.
-    geometrical_world.set_broad_phase_pair_filter(NoMultibodySelfContactFilter);
-
     /*
      * Ground
      */
-    let ground_size = 25.0;
-    let ground_shape = ShapeHandle::new(Cuboid::new(Vector2::new(ground_size, 1.0)));
+    let ground_size = r!(25.0);
+    let ground_shape = ShapeHandle::new(Cuboid::new(Vector2::new(ground_size, r!(1.0))));
 
     let ground_handle = bodies.insert(Ground::new());
     let co = ColliderDesc::new(ground_shape)
@@ -75,6 +82,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Run the simulation.
      */
     testbed.set_ground_handle(Some(ground_handle));
+    testbed.set_broad_phase_pair_filter(NoMultibodySelfContactFilter);
     testbed.set_world(
         mechanical_world,
         geometrical_world,
@@ -86,14 +94,17 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.look_at(Point2::new(0.0, 5.0), 25.0);
 }
 
-fn build_ragdolls(bodies: &mut DefaultBodySet<f32>, colliders: &mut DefaultColliderSet<f32>) {
-    let body_rady = 1.2;
-    let body_radx = 0.2;
-    let head_rad = 0.4;
-    let member_rad = 0.1;
-    let arm_length = 0.9;
-    let leg_length = 1.4;
-    let space = 0.1;
+fn build_ragdolls<N: RealField>(
+    bodies: &mut DefaultBodySet<N>,
+    colliders: &mut DefaultColliderSet<N>,
+) {
+    let body_rady = r!(1.2);
+    let body_radx = r!(0.2);
+    let head_rad = r!(0.4);
+    let member_rad = r!(0.1);
+    let arm_length = r!(0.9);
+    let leg_length = r!(1.4);
+    let space = r!(0.1);
 
     let body_geom = ShapeHandle::new(Cuboid::new(Vector2::new(body_radx, body_rady)));
     let head_geom = ShapeHandle::new(Ball::new(head_rad));
@@ -109,48 +120,50 @@ fn build_ragdolls(bodies: &mut DefaultBodySet<f32>, colliders: &mut DefaultColli
     /*
      * Body.
      */
-    let body_collider = ColliderDesc::new(body_geom).density(0.3);
+    let body_collider = ColliderDesc::new(body_geom).density(r!(0.3));
     let mut body = MultibodyDesc::new(free);
 
     /*
      * Head.
      */
-    let head_collider = ColliderDesc::new(head_geom).density(0.3);
-    body.add_child(spherical)
-        .set_parent_shift(Vector2::new(0.0, body_rady + head_rad + space * 2.0));
+    let head_collider = ColliderDesc::new(head_geom).density(r!(0.3));
+    body.add_child(spherical).set_parent_shift(Vector2::new(
+        r!(0.0),
+        body_rady + head_rad + space * r!(2.0),
+    ));
 
     /*
      * Arms.
      */
-    let arm_collider = ColliderDesc::new(arm_geom).density(0.3);
+    let arm_collider = ColliderDesc::new(arm_geom).density(r!(0.3));
     body.add_child(spherical)
-        .set_parent_shift(Vector2::new(body_radx + 2.0 * space, body_rady))
-        .set_body_shift(Vector2::new(0.0, arm_length + space));
+        .set_parent_shift(Vector2::new(body_radx + r!(2.0) * space, body_rady))
+        .set_body_shift(Vector2::new(r!(0.0), arm_length + space));
 
     body.add_child(spherical)
-        .set_parent_shift(Vector2::new(-body_radx - 2.0 * space, body_rady))
-        .set_body_shift(Vector2::new(0.0, arm_length + space));
+        .set_parent_shift(Vector2::new(-body_radx - r!(2.0) * space, body_rady))
+        .set_body_shift(Vector2::new(r!(0.0), arm_length + space));
 
     /*
      * Legs.
      */
-    let leg_collider = ColliderDesc::new(leg_geom).density(0.3);
+    let leg_collider = ColliderDesc::new(leg_geom).density(r!(0.3));
     body.add_child(spherical)
         .set_parent_shift(Vector2::new(body_radx, -body_rady))
-        .set_body_shift(Vector2::new(0.0, leg_length + space));
+        .set_body_shift(Vector2::new(r!(0.0), leg_length + space));
 
     body.add_child(spherical)
         .set_parent_shift(Vector2::new(-body_radx, -body_rady))
-        .set_body_shift(Vector2::new(0.0, leg_length + space));
+        .set_body_shift(Vector2::new(r!(0.0), leg_length + space));
 
     let n = 5;
-    let shiftx = 2.0;
-    let shifty = 6.5;
+    let shiftx = r!(2.0);
+    let shifty = r!(6.5);
 
     for i in 0usize..n {
         for j in 0usize..n {
-            let x = i as f32 * shiftx - n as f32 * shiftx / 2.0;
-            let y = j as f32 * shifty + 6.0;
+            let x = r!(i as f64) * shiftx - r!(n as f64) * shiftx / r!(2.0);
+            let y = r!(j as f64) * shifty + r!(6.0);
 
             let free = FreeJoint::new(Isometry2::translation(x, y));
             let ragdoll = body.set_joint(free).build();
@@ -167,7 +180,7 @@ fn build_ragdolls(bodies: &mut DefaultBodySet<f32>, colliders: &mut DefaultColli
 }
 
 fn main() {
-    let mut testbed = Testbed::new_empty();
+    let mut testbed = Testbed::<f32>::new_empty();
     init_world(&mut testbed);
     testbed.run();
 }

examples3d/Cargo.toml

@@ -13,9 +13,9 @@ rand       = { version = "0.7", features = [ "stdweb" ] }
 rand_distr = "0.2"
 num-traits = "0.2"
 Inflector  = "0.11"
-nalgebra   = "0.21"
-ncollide3d = "0.23"
-kiss3d     = "0.24"
+nalgebra   = "0.22"
+ncollide3d = "0.25"
+kiss3d     = "0.26"
 simba      = { version = "0.1", features = [ "partial_fixed_point_support" ]}
 
 [target.wasm32-unknown-unknown.dependencies]