ImpulseJointSet::get_mut option to wake up connected bodies #716
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sebcrozet
requested changes
Sep 6, 2024
| @@ -42,7 +44,7 @@ pub struct ImpulseJointSet { | |||
| rb_graph_ids: Coarena<RigidBodyGraphIndex>, | |||
| joint_ids: Arena<TemporaryInteractionIndex>, // Map joint handles to edge ids on the graph. | |||
| joint_graph: InteractionGraph<RigidBodyHandle, ImpulseJoint>, | |||
| pub(crate) to_wake_up: Vec<RigidBodyHandle>, // A set of rigid-body handles to wake-up during the next timestep. | |||
| pub(crate) to_wake_up: HashSet<RigidBodyHandle>, // A set of rigid-body handles to wake-up during the next timestep. | |||
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We can’t use std::collections::HashSet here because that would break determinism due to internal randomness and unstable iteration order. Instead it should use parry::utils::HashMap<RigidBodyHandle, ()> (unfortunately, parry::utils doesn’t have a HashSet. But we could add one in parry and switch it here afterward).
sebcrozet
approved these changes
Sep 13, 2024
| joint_graph: InteractionGraph<RigidBodyHandle, ImpulseJoint>, | ||
| pub(crate) to_wake_up: Vec<RigidBodyHandle>, // A set of rigid-body handles to wake-up during the next timestep. | ||
| /// A set of rigid-body handles to wake-up during the next timestep. | ||
| pub(crate) to_wake_up: HashMap<RigidBodyHandle, ()>, |
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Could you please open an issue on parry for adding HashSet ?
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follow up to #692