ImpulseJointSet::get_mut option to wake up connected bodies

examples3d/vehicle_joints3.rs

@@ -158,14 +158,17 @@ pub fn init_world(testbed: &mut Testbed) {
                 _ => {}
             }
         }
-
+        let mut should_wake_up = false;
         if thrust != 0.0 || steering != 0.0 {
-            physics.bodies.get_mut(body_handle).unwrap().wake_up(true);
+            should_wake_up = true;
         }
 
         // Apply steering to the axles.
         for steering_handle in &steering_joints {
-            let steering_joint = physics.impulse_joints.get_mut(*steering_handle).unwrap();
+            let steering_joint = physics
+                .impulse_joints
+                .get_mut(*steering_handle, should_wake_up)
+                .unwrap();
             steering_joint.data.set_motor_position(
                 JointAxis::AngY,
                 max_steering_angle * steering,
@@ -187,7 +190,10 @@ pub fn init_world(testbed: &mut Testbed) {
 
         let ms = [1.0 / speed_diff, speed_diff];
         for (motor_handle, &ms) in motor_joints.iter().copied().zip(ms.iter()) {
-            let motor_joint = physics.impulse_joints.get_mut(motor_handle).unwrap();
+            let motor_joint = physics
+                .impulse_joints
+                .get_mut(motor_handle, should_wake_up)
+                .unwrap();
             motor_joint.data.set_motor_velocity(
                 JointAxis::AngX,
                 -30.0 * thrust * ms * boost,

src/dynamics/joint/impulse_joint/impulse_joint_set.rs

@@ -1,3 +1,5 @@
+use std::collections::HashSet;
+
 use super::ImpulseJoint;
 use crate::geometry::{InteractionGraph, RigidBodyGraphIndex, TemporaryInteractionIndex};
 
@@ -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.
 }
 
 impl ImpulseJointSet {
@@ -52,7 +54,7 @@ impl ImpulseJointSet {
             rb_graph_ids: Coarena::new(),
             joint_ids: Arena::new(),
             joint_graph: InteractionGraph::new(),
-            to_wake_up: vec![],
+            to_wake_up: HashSet::new(),
         }
     }
 
@@ -145,9 +147,20 @@ impl ImpulseJointSet {
     }
 
     /// Gets a mutable reference to the joint with the given handle.
-    pub fn get_mut(&mut self, handle: ImpulseJointHandle) -> Option<&mut ImpulseJoint> {
+    pub fn get_mut(
+        &mut self,
+        handle: ImpulseJointHandle,
+        wake_up_connected_bodies: bool,
+    ) -> Option<&mut ImpulseJoint> {
         let id = self.joint_ids.get(handle.0)?;
-        self.joint_graph.graph.edge_weight_mut(*id)
+        let joint = self.joint_graph.graph.edge_weight_mut(*id);
+        if wake_up_connected_bodies {
+            if let Some(joint) = &joint {
+                self.to_wake_up.insert(joint.body1);
+                self.to_wake_up.insert(joint.body2);
+            }
+        }
+        joint
     }
 
     /// Gets the joint with the given handle without a known generation.
@@ -269,8 +282,8 @@ impl ImpulseJointSet {
         self.joint_ids[handle] = self.joint_graph.add_edge(graph_index1, graph_index2, joint);
 
         if wake_up {
-            self.to_wake_up.push(body1);
-            self.to_wake_up.push(body2);
+            self.to_wake_up.insert(body1);
+            self.to_wake_up.insert(body2);
         }
 
         ImpulseJointHandle(handle)
@@ -320,10 +333,10 @@ impl ImpulseJointSet {
 
         if wake_up {
             if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.0) {
-                self.to_wake_up.push(*rb_handle);
+                self.to_wake_up.insert(*rb_handle);
             }
             if let Some(rb_handle) = self.joint_graph.graph.node_weight(endpoints.1) {
-                self.to_wake_up.push(*rb_handle);
+                self.to_wake_up.insert(*rb_handle);
             }
         }
 
@@ -372,8 +385,8 @@ impl ImpulseJointSet {
                     }
 
                     // Wake up the attached bodies.
-                    self.to_wake_up.push(h1);
-                    self.to_wake_up.push(h2);
+                    self.to_wake_up.insert(h1);
+                    self.to_wake_up.insert(h2);
                 }
 
                 if let Some(other) = self.joint_graph.remove_node(deleted_id) {

src/pipeline/physics_pipeline.rs

@@ -428,7 +428,7 @@ impl PhysicsPipeline {
         self.counters.stages.user_changes.start();
         for handle in impulse_joints
             .to_wake_up
-            .drain(..)
+            .drain()
             .chain(multibody_joints.to_wake_up.drain(..))
         {
             islands.wake_up(bodies, handle, true);