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Change ColliderParent to a ColliderOf relationship and rework ColliderHierarchyPlugin #671

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merged 5 commits into from
Mar 22, 2025
Merged

Change ColliderParent to a ColliderOf relationship and rework ColliderHierarchyPlugin #671

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fc41437
Rework `ColliderParent` to be a `ColliderOf` relationship
Jondolf Mar 22, 2025
e250d40
Extract transform logic from `ColliderHierarchyPlugin` to `ColliderTr…
Jondolf Mar 22, 2025
d4c8036
Rename more variables
Jondolf Mar 22, 2025
a1a2358
Fix `ColliderOf` relationship implementation
Jondolf Mar 22, 2025
7af6053
Fix `determinism_2d` test
Jondolf Mar 22, 2025
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22 changes: 9 additions & 13 deletions crates/avian2d/examples/kinematic_character_2d/plugin.rs
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -267,7 +267,7 @@ fn apply_movement_damping(mut query: Query<(&MovementDampingFactor, &mut LinearV
fn kinematic_controller_collisions(
collisions: Res<Collisions>,
bodies: Query<&RigidBody>,
collider_parents: Query<&ColliderParent, Without<Sensor>>,
collider_rbs: Query<&ColliderOf, Without<Sensor>>,
mut character_controllers: Query<
(&mut Position, &mut LinearVelocity, Option<&MaxSlopeAngle>),
(With<RigidBody>, With<CharacterController>),
Expand All @@ -277,8 +277,8 @@ fn kinematic_controller_collisions(
// Iterate through collisions and move the kinematic body to resolve penetration
for contacts in collisions.iter() {
// Get the rigid body entities of the colliders (colliders could be children)
let Ok([collider_parent1, collider_parent2]) =
collider_parents.get_many([contacts.entity1, contacts.entity2])
let Ok([&ColliderOf { rigid_body: rb1 }, &ColliderOf { rigid_body: rb2 }]) =
collider_rbs.get_many([contacts.entity1, contacts.entity2])
else {
continue;
};
Expand All @@ -291,19 +291,15 @@ fn kinematic_controller_collisions(
let is_other_dynamic: bool;

let (mut position, mut linear_velocity, max_slope_angle) =
if let Ok(character) = character_controllers.get_mut(collider_parent1.get()) {
if let Ok(character) = character_controllers.get_mut(rb1) {
is_first = true;
character_rb = *bodies.get(collider_parent1.get()).unwrap();
is_other_dynamic = bodies
.get(collider_parent2.get())
.is_ok_and(|rb| rb.is_dynamic());
character_rb = *bodies.get(rb1).unwrap();
is_other_dynamic = bodies.get(rb2).is_ok_and(|rb| rb.is_dynamic());
character
} else if let Ok(character) = character_controllers.get_mut(collider_parent2.get()) {
} else if let Ok(character) = character_controllers.get_mut(rb2) {
is_first = false;
character_rb = *bodies.get(collider_parent2.get()).unwrap();
is_other_dynamic = bodies
.get(collider_parent1.get())
.is_ok_and(|rb| rb.is_dynamic());
character_rb = *bodies.get(rb2).unwrap();
is_other_dynamic = bodies.get(rb1).is_ok_and(|rb| rb.is_dynamic());
character
} else {
continue;
Expand Down
22 changes: 9 additions & 13 deletions crates/avian3d/examples/kinematic_character_3d/plugin.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -283,7 +283,7 @@ fn apply_movement_damping(mut query: Query<(&MovementDampingFactor, &mut LinearV
fn kinematic_controller_collisions(
collisions: Res<Collisions>,
bodies: Query<&RigidBody>,
collider_parents: Query<&ColliderParent, Without<Sensor>>,
collider_rbs: Query<&ColliderOf, Without<Sensor>>,
mut character_controllers: Query<
(&mut Position, &mut LinearVelocity, Option<&MaxSlopeAngle>),
(With<RigidBody>, With<CharacterController>),
Expand All @@ -293,8 +293,8 @@ fn kinematic_controller_collisions(
// Iterate through collisions and move the kinematic body to resolve penetration
for contacts in collisions.iter() {
// Get the rigid body entities of the colliders (colliders could be children)
let Ok([collider_parent1, collider_parent2]) =
collider_parents.get_many([contacts.entity1, contacts.entity2])
let Ok([&ColliderOf { rigid_body: rb1 }, &ColliderOf { rigid_body: rb2 }]) =
collider_rbs.get_many([contacts.entity1, contacts.entity2])
else {
continue;
};
Expand All @@ -307,19 +307,15 @@ fn kinematic_controller_collisions(
let is_other_dynamic: bool;

let (mut position, mut linear_velocity, max_slope_angle) =
if let Ok(character) = character_controllers.get_mut(collider_parent1.get()) {
if let Ok(character) = character_controllers.get_mut(rb1) {
is_first = true;
character_rb = *bodies.get(collider_parent1.get()).unwrap();
is_other_dynamic = bodies
.get(collider_parent2.get())
.is_ok_and(|rb| rb.is_dynamic());
character_rb = *bodies.get(rb1).unwrap();
is_other_dynamic = bodies.get(rb2).is_ok_and(|rb| rb.is_dynamic());
character
} else if let Ok(character) = character_controllers.get_mut(collider_parent2.get()) {
} else if let Ok(character) = character_controllers.get_mut(rb2) {
is_first = false;
character_rb = *bodies.get(collider_parent2.get()).unwrap();
is_other_dynamic = bodies
.get(collider_parent1.get())
.is_ok_and(|rb| rb.is_dynamic());
character_rb = *bodies.get(rb2).unwrap();
is_other_dynamic = bodies.get(rb1).is_ok_and(|rb| rb.is_dynamic());
character
} else {
continue;
Expand Down
35 changes: 21 additions & 14 deletions src/collision/broad_phase.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,7 @@ pub struct AabbIntersections(pub Vec<Entity>);
struct AabbIntervals(
Vec<(
Entity,
ColliderParent,
ColliderOf,
ColliderAabb,
CollisionLayers,
AabbIntervalFlags,
Expand Down Expand Up @@ -139,7 +139,7 @@ fn update_aabb_intervals(
aabbs: Query<
(
&ColliderAabb,
Option<&ColliderParent>,
Option<&ColliderOf>,
Option<&CollisionLayers>,
Option<&ActiveCollisionHooks>,
Has<AabbIntersections>,
Expand All @@ -152,10 +152,10 @@ fn update_aabb_intervals(
) {
intervals
.0
.retain_mut(|(collider_entity, collider_parent, aabb, layers, flags)| {
.retain_mut(|(collider_entity, collider_of, aabb, layers, flags)| {
if let Ok((
new_aabb,
new_parent,
new_collider_of,
new_layers,
hooks,
new_store_intersections,
Expand All @@ -167,11 +167,18 @@ fn update_aabb_intervals(
}

*aabb = *new_aabb;
*collider_parent = new_parent.map_or(ColliderParent(*collider_entity), |p| *p);
*collider_of = new_collider_of.map_or(
ColliderOf {
rigid_body: *collider_entity,
},
|p| *p,
);
*layers = new_layers.map_or(CollisionLayers::default(), |layers| *layers);

let is_static =
new_parent.is_some_and(|p| rbs.get(p.get()).is_ok_and(RigidBody::is_static));
let is_static = new_collider_of.is_some_and(|collider_of| {
rbs.get(collider_of.rigid_body)
.is_ok_and(RigidBody::is_static)
});

flags.set(AabbIntervalFlags::IS_INACTIVE, is_static || is_sleeping);
flags.set(
Expand All @@ -192,7 +199,7 @@ fn update_aabb_intervals(

type AabbIntervalQueryData = (
Entity,
Option<Read<ColliderParent>>,
Option<Read<ColliderOf>>,
Read<ColliderAabb>,
Option<Read<RigidBody>>,
Option<Read<CollisionLayers>>,
Expand All @@ -210,7 +217,7 @@ fn add_new_aabb_intervals(
) {
let re_enabled_aabbs = aabbs.iter_many(re_enabled_colliders.read());
let aabbs = added_aabbs.iter().chain(re_enabled_aabbs).map(
|(entity, parent, aabb, rb, layers, hooks, store_intersections)| {
|(entity, collider_of, aabb, rb, layers, hooks, store_intersections)| {
let mut flags = AabbIntervalFlags::empty();
flags.set(AabbIntervalFlags::STORE_INTERSECTIONS, store_intersections);
flags.set(
Expand All @@ -223,7 +230,7 @@ fn add_new_aabb_intervals(
);
(
entity,
parent.map_or(ColliderParent(entity), |p| *p),
collider_of.map_or(ColliderOf { rigid_body: entity }, |p| *p),
*aabb,
layers.map_or(CollisionLayers::default(), |layers| *layers),
flags,
Expand Down Expand Up @@ -280,20 +287,20 @@ fn sweep_and_prune<H: CollisionHooks>(
broad_collision_pairs.clear();

// Find potential collisions by checking for AABB intersections along all axes.
for (i, (entity1, parent1, aabb1, layers1, flags1)) in intervals.0.iter().enumerate() {
for (entity2, parent2, aabb2, layers2, flags2) in intervals.0.iter().skip(i + 1) {
for (i, (entity1, collider_of1, aabb1, layers1, flags1)) in intervals.0.iter().enumerate() {
for (entity2, collider_of2, aabb2, layers2, flags2) in intervals.0.iter().skip(i + 1) {
// x doesn't intersect; check this first so we can discard as soon as possible.
if aabb2.min.x > aabb1.max.x {
break;
}

// No collisions between bodies that haven't moved or colliders with incompatible layers
// or colliders with the same parent.
// or colliders attached to the same rigid body.
if flags1
.intersection(*flags2)
.contains(AabbIntervalFlags::IS_INACTIVE)
|| !layers1.interacts_with(*layers2)
|| parent1 == parent2
|| collider_of1 == collider_of2
{
continue;
}
Expand Down
72 changes: 22 additions & 50 deletions src/collision/collider/backend.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -188,7 +188,7 @@ impl<C: ScalableCollider> Plugin for ColliderBackendPlugin<C> {
let entity_ref = world.entity_mut(ctx.entity);

// Get the rigid body entity that the collider is attached to.
let Some(parent) = entity_ref.get::<ColliderParent>().copied() else {
let Some(collider_of) = entity_ref.get::<ColliderOf>().copied() else {
return;
};

Expand All @@ -197,22 +197,24 @@ impl<C: ScalableCollider> Plugin for ColliderBackendPlugin<C> {
*world.resource::<ColliderRemovalSystem>().to_owned();

// Handle collider removal.
world.commands().run_system_with(system_id, parent);
world.commands().run_system_with(system_id, collider_of);
});

// When the `Sensor` component is added to a collider, queue its rigid body for a mass property update.
app.add_observer(
|trigger: Trigger<OnAdd, Sensor>,
mut commands: Commands,
query: Query<(&ColliderMassProperties, &ColliderParent)>| {
if let Ok((collider_mass_properties, parent)) = query.get(trigger.target()) {
query: Query<(&ColliderMassProperties, &ColliderOf)>| {
if let Ok((collider_mass_properties, &ColliderOf { rigid_body })) =
query.get(trigger.target())
{
// If the collider mass properties are zero, there is nothing to subtract.
if *collider_mass_properties == ColliderMassProperties::ZERO {
return;
}

// Queue the parent rigid body for a mass property update.
if let Ok(mut entity_commands) = commands.get_entity(parent.get()) {
// Queue the rigid body for a mass property update.
if let Ok(mut entity_commands) = commands.get_entity(rigid_body) {
entity_commands.insert(RecomputeMassProperties);
}
}
Expand Down Expand Up @@ -252,12 +254,6 @@ impl<C: ScalableCollider> Plugin for ColliderBackendPlugin<C> {
),
);

// Update collider parents for colliders that are on the same entity as the rigid body.
app.add_systems(
self.schedule,
update_root_collider_parents::<C>.before(PrepareSet::Finalize),
);

let physics_schedule = app
.get_schedule_mut(PhysicsSchedule)
.expect("add PhysicsSchedule first");
Expand Down Expand Up @@ -290,29 +286,6 @@ impl<C: ScalableCollider> Plugin for ColliderBackendPlugin<C> {
#[reflect(Component, Debug, Default)]
pub struct ColliderMarker;

/// Updates [`ColliderParent`] for colliders that are on the same entity as the [`RigidBody`].
///
/// The [`ColliderHierarchyPlugin`] should be used to handle hierarchies.
fn update_root_collider_parents<C: AnyCollider>(
mut commands: Commands,
mut bodies: Query<
(Entity, Option<&mut ColliderParent>),
(With<RigidBody>, With<C>, Or<(Added<RigidBody>, Added<C>)>),
>,
) {
for (entity, collider_parent) in &mut bodies {
if let Some(mut collider_parent) = collider_parent {
collider_parent.0 = entity;
} else {
commands.entity(entity).try_insert((
ColliderParent(entity),
// TODO: This probably causes a one frame delay. Compute real value?
ColliderTransform::default(),
));
}
}
}

/// Generates [`Collider`]s based on [`ColliderConstructor`]s.
///
/// If a [`ColliderConstructor`] requires a mesh, the system keeps running
Expand Down Expand Up @@ -505,7 +478,7 @@ fn update_aabb<C: AnyCollider>(
&mut ColliderAabb,
&Position,
&Rotation,
Option<&ColliderParent>,
Option<&ColliderOf>,
Option<&CollisionMargin>,
Option<&SpeculativeMargin>,
Has<SweptCcd>,
Expand All @@ -520,7 +493,7 @@ fn update_aabb<C: AnyCollider>(
Changed<C>,
)>,
>,
parent_velocity: Query<
rb_velocities: Query<
(
&Position,
&ComputedCenterOfMass,
Expand All @@ -544,7 +517,7 @@ fn update_aabb<C: AnyCollider>(
mut aabb,
pos,
rot,
collider_parent,
collider_of,
collision_margin,
speculative_margin,
has_swept_ccd,
Expand All @@ -571,16 +544,16 @@ fn update_aabb<C: AnyCollider>(
// Expand the AABB based on the body's velocity and CCD speculative margin.
let (lin_vel, ang_vel) = if let (Some(lin_vel), Some(ang_vel)) = (lin_vel, ang_vel) {
(*lin_vel, *ang_vel)
} else if let Some(Ok((parent_pos, center_of_mass, Some(lin_vel), Some(ang_vel)))) =
collider_parent.map(|p| parent_velocity.get(p.get()))
} else if let Some(Ok((rb_pos, center_of_mass, Some(lin_vel), Some(ang_vel)))) =
collider_of.map(|&ColliderOf { rigid_body }| rb_velocities.get(rigid_body))
{
// If the rigid body is rotating, off-center colliders will orbit around it,
// which affects their linear velocities. We need to compute the linear velocity
// at the offset position.
// TODO: This assumes that the colliders would continue moving in the same direction,
// but because they are orbiting, the direction will change. We should take
// into account the uniform circular motion.
let offset = pos.0 - parent_pos.0 - center_of_mass.0;
let offset = pos.0 - rb_pos.0 - center_of_mass.0;
#[cfg(feature = "2d")]
let vel_at_offset =
lin_vel.0 + Vector::new(-ang_vel.0 * offset.y, ang_vel.0 * offset.x) * 1.0;
Expand Down Expand Up @@ -661,26 +634,24 @@ pub fn update_collider_scale<C: ScalableCollider>(

/// A resource that stores the system ID for the system that reacts to collider removals.
#[derive(Resource)]
struct ColliderRemovalSystem(SystemId<In<ColliderParent>>);
struct ColliderRemovalSystem(SystemId<In<ColliderOf>>);

/// Updates the mass properties of bodies and wakes bodies up when an attached collider is removed.
///
/// Takes the removed collider's entity, parent, mass properties, and transform as input.
/// Takes the removed collider's entity, rigid body entity, mass properties, and transform as input.
fn collider_removed(
In(parent): In<ColliderParent>,
In(ColliderOf { rigid_body }): In<ColliderOf>,
mut commands: Commands,
mut sleep_query: Query<&mut TimeSleeping>,
) {
let parent = parent.get();

let Ok(mut entity_commands) = commands.get_entity(parent) else {
let Ok(mut entity_commands) = commands.get_entity(rigid_body) else {
return;
};

// Queue the parent entity for mass property recomputation.
// Queue the rigid body for mass property recomputation.
entity_commands.insert(RecomputeMassProperties);

if let Ok(mut time_sleeping) = sleep_query.get_mut(parent) {
if let Ok(mut time_sleeping) = sleep_query.get_mut(rigid_body) {
// Wake up the rigid body since removing the collider could also remove active contacts.
entity_commands.remove::<Sleeping>();
time_sleeping.0 = 0.0;
Expand Down Expand Up @@ -720,8 +691,9 @@ mod tests {
app.add_plugins((
PreparePlugin::new(FixedPostUpdate),
MassPropertyPlugin::new(FixedPostUpdate),
ColliderHierarchyPlugin,
ColliderTransformPlugin::default(),
ColliderBackendPlugin::<Collider>::new(FixedPostUpdate),
ColliderHierarchyPlugin::new(FixedPostUpdate),
));

let collider = Collider::capsule(0.5, 2.0);
Expand Down
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