Use hecs_rapier with physics_hooks

client/src/game/mod.rs

@@ -17,6 +17,7 @@ use gvfs::filesystem::Filesystem;
 use hecs::{With, World};
 
 pub mod components;
+pub mod physics;
 pub mod systems;
 
 pub struct GameState {
@@ -81,13 +82,13 @@ impl GameState {
         let mut narrow_phase = self.resources.get_mut::<NarrowPhase>().unwrap();
         let mut ccd_solver = self.resources.get_mut::<CCDSolver>().unwrap();
         let mut joint_set = self.resources.get_mut::<JointSet>().unwrap();
-        // let mut joints_entity_map = self.resources.get_mut::<JointsEntityMap>().unwrap();
-        // let physics_hooks = ();
+        let mut joints_entity_map = self.resources.get_mut::<JointsEntityMap>().unwrap();
+        const PHYSICS_HOOKS: physics::SameParentFilter = physics::SameParentFilter {};
         let event_handler = ();
 
         // TODO: make all preparations before looping necessary number of steps
         attach_bodies_and_colliders(&mut self.world);
-        // create_joints_system();
+        create_joints(&mut self.world, &mut joint_set, &mut joints_entity_map);
         finalize_collider_attach_to_bodies(&mut self.world, &mut modifs_tracker);
 
         prepare_step(&mut self.world, &mut modifs_tracker);
@@ -103,6 +104,7 @@ impl GameState {
             &mut narrow_phase,
             &mut joint_set,
             &mut ccd_solver,
+            &PHYSICS_HOOKS,
             &event_handler,
         );
 
@@ -190,8 +192,7 @@ impl Game for GameState {
                         Vec2::new(0., 3. / self.config.phys.scale).into(),
                         2. / self.config.phys.scale,
                     ),
-                    // shape: ColliderShape::ball(5. / self.config.phys.scale),
-                    // position: Vec2::new(-3. / self.config.phys.scale, 0.0).into(),
+                    flags: ColliderFlags::from(ActiveHooks::FILTER_CONTACT_PAIRS),
                     ..Default::default()
                 },
             )

client/src/game/physics.rs

@@ -0,0 +1,37 @@
+use crate::physics::*;
+use hecs::World;
+
+pub struct SameParentFilter;
+impl PhysicsHooksWithWorld for SameParentFilter {
+    fn filter_contact_pair(
+        &self,
+        context: &PairFilterContext<RigidBodyComponentsSet, ColliderComponentsSet>,
+        world: &World,
+    ) -> Option<SolverFlags> {
+        // if collider1 and collider2 have the same Parent() component
+        // or collider1 is Parent() of collider2
+        // or collider2 is Parent() of collider1
+        // then there is no contact
+
+        let collider1 = context.collider1.entity();
+        let collider2 = context.collider2.entity();
+        let parent1 = world.get::<Parent>(collider1).ok();
+        let parent2 = world.get::<Parent>(collider2).ok();
+
+        if let Some(parent1) = parent1 {
+            if let Some(parent2) = parent2 {
+                if **parent1 == **parent2 || **parent1 == collider2 || **parent2 == collider1 {
+                    return None;
+                }
+            } else if **parent1 == collider2 {
+                return None;
+            }
+        } else if let Some(parent2) = parent2 {
+            if **parent2 == collider1 {
+                return None;
+            }
+        }
+
+        Some(SolverFlags::all())
+    }
+}

shared/Cargo.toml

@@ -20,7 +20,7 @@ clap = "2.33"
 rapier2d = { version = "0.11", features = ["simd-stable"] }
 nalgebra = { version = "0.29", features = ["convert-glam014"] }
 glam = "0.14" # bound to gfx2d's dependency
-hecs_rapier = "0.10.2"
+hecs_rapier = "0.11.0"
 derive_deref = "1.1"
 simple-error = "0.2"
 

shared/src/networking.rs

@@ -122,6 +122,7 @@ impl Stepper for GameWorld {
             &mut self.physics.joint_set,
             &mut self.physics.ccd_solver,
             &(),
+            &(),
         );
 
         physics::despawn_outliers(&mut self.world, 2500., 16.); // FIXME: use config.phys.scale