Fix collider insertion/removal tracking.

8 files changed, 53 insertions, 75 deletions

diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 7549fa6..82e72e3 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -13,8 +13,10 @@ use std::cmp::Ordering;
 mod collision_groups3;
 mod compound3;
 mod damping3;
+mod debug_add_remove_collider3;
 mod debug_boxes3;
 mod debug_cylinder3;
+mod debug_dynamic_collider_add3;
 mod debug_infinite_fall3;
 mod debug_rollback3;
 mod debug_triangle3;
@@ -82,7 +84,15 @@ pub fn main() {
         ("Sensor", sensor3::init_world),
         ("Trimesh", trimesh3::init_world),
         ("Keva tower", keva3::init_world),
+        (
+            "(Debug) add/rm collider",
+            debug_add_remove_collider3::init_world,
+        ),
         ("(Debug) boxes", debug_boxes3::init_world),
+        (
+            "(Debug) dyn. coll. add",
+            debug_dynamic_collider_add3::init_world,
+        ),
         ("(Debug) triangle", debug_triangle3::init_world),
         ("(Debug) trimesh", debug_trimesh3::init_world),
         ("(Debug) cylinder", debug_cylinder3::init_world),
diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index 9e13fb5..c8d72fc 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -13,17 +13,14 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground.
      */
-    let ground_size = 20.0;
+    let ground_size = 3.0;
     let ground_height = 0.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
         .translation(0.0, -ground_height, 0.0)
         .build();
     let ground_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
-        .friction(0.15)
-        // .restitution(0.5)
-        .build();
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build();
     let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
 
     /*
@@ -32,65 +29,17 @@ pub fn init_world(testbed: &mut Testbed) {
     let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
         .translation(0.0, 0.2, 0.0)
-        .linvel(10.0, 0.0, 0.0)
         .build();
     let ball_handle = bodies.insert(rb);
     let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
     colliders.insert(collider, ball_handle, &mut bodies);
 
-    let mut linvel = Vector3::zeros();
-    let mut angvel = Vector3::zeros();
-    let mut pos = Isometry3::identity();
-    let mut step = 0;
-    let mut extra_balls = Vec::new();
-    let snapped_frame = 51;
-
     testbed.add_callback(move |window, physics, _, graphics, _| {
-        step += 1;
-
-        // Add a bigger ball collider
-        let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32))
-            .density(100.0)
-            .build();
-        let new_ball_collider_handle =
-            physics
-                .colliders
-                .insert(collider, ball_handle, &mut physics.bodies);
-        graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
-        extra_balls.push(new_ball_collider_handle);
-
-        // Snap the ball velocity or restore it.
-        let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
-
-        if step == snapped_frame {
-            linvel = *ball.linvel();
-            angvel = *ball.angvel();
-            pos = *ball.position();
-        }
-
-        if step == 100 {
-            ball.set_linvel(linvel, true);
-            ball.set_angvel(angvel, true);
-            ball.set_position(pos, true);
-            step = snapped_frame;
-
-            for ball in &extra_balls {
-                physics.colliders.remove(*ball, &mut physics.bodies, true);
-            }
-
-            extra_balls.clear();
-        }
-
         // Remove then re-add the ground collider.
-        // let ground = physics.bodies.get_mut(ground_handle).unwrap();
-        // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
-        // let coll = physics
-        //     .colliders
-        //     .remove(ground_collider_handle, &mut physics.bodies, true)
-        //     .unwrap();
-        let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
-            .friction(0.15)
-            .build();
+        let coll = physics
+            .colliders
+            .remove(ground_collider_handle, &mut physics.bodies, true)
+            .unwrap();
         ground_collider_handle = physics
             .colliders
             .insert(coll, ground_handle, &mut physics.bodies);
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index 9a10b27..4ea6836 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -91,7 +91,7 @@ pub fn init_world(testbed: &mut Testbed) {
         let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
             .friction(0.15)
             .build();
-        new_ground_collider_handle =
+        let new_ground_collider_handle =
             physics
                 .colliders
                 .insert(coll, ground_handle, &mut physics.bodies);
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
index 1c5b643..6479e1f 100644
--- a/examples3d/debug_rollback3.rs
+++ b/examples3d/debug_rollback3.rs
@@ -24,17 +24,18 @@ pub fn init_world(testbed: &mut Testbed) {
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    colliders.insert(collider, ground_handle, &mut bodies);
+    let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
      */
+    let ball_rad = 0.1;
     let rb = RigidBodyBuilder::new_dynamic()
         .translation(0.0, 0.2, 0.0)
         .linvel(10.0, 0.0, 0.0)
         .build();
     let ball_handle = bodies.insert(rb);
-    let collider = ColliderBuilder::ball(0.1).density(100.0).build();
+    let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
     colliders.insert(collider, ball_handle, &mut bodies);
 
     let mut linvel = Vector3::zeros();
@@ -43,8 +44,10 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut step = 0;
     let snapped_frame = 51;
 
-    testbed.add_callback(move |_, physics, _, _, _| {
+    testbed.add_callback(move |window, physics, _, graphics, _| {
         step += 1;
+
+        // Snap the ball velocity or restore it.
         let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
 
         if step == snapped_frame {
@@ -59,9 +62,6 @@ pub fn init_world(testbed: &mut Testbed) {
             ball.set_position(pos, true);
             step = snapped_frame;
         }
-
-        let ground = physics.bodies.get_mut(ground_handle).unwrap();
-        ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
     });
 
     /*
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs
index 0843300..0975f39 100644
--- a/examples3d/platform3.rs
+++ b/examples3d/platform3.rs
@@ -71,7 +71,7 @@ pub fn init_world(testbed: &mut Testbed) {
             return;
         }
 
-        if let Some(mut platform) = physics.bodies.get_mut(platform_handle) {
+        if let Some(platform) = physics.bodies.get_mut(platform_handle) {
             let mut next_pos = *platform.position();
 
             let dt = 0.016;
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 52db425..0d340cc 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -167,12 +167,10 @@ impl RigidBody {
 
     /// Adds a collider to this rigid-body.
     pub(crate) fn add_collider(&mut self, handle: ColliderHandle, coll: &Collider) {
-        if !self.changes.contains(RigidBodyChanges::MODIFIED) {
-            self.changes.set(
-                RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
-                true,
-            );
-        }
+        self.changes.set(
+            RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
+            true,
+        );
 
         let mass_properties = coll
             .mass_properties()
@@ -193,6 +191,7 @@ impl RigidBody {
     /// Removes a collider from this rigid-body.
     pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) {
         if let Some(i) = self.colliders.iter().position(|e| *e == handle) {
+            self.changes.set(RigidBodyChanges::COLLIDERS, true);
             self.colliders.swap_remove(i);
             let mass_properties = coll
                 .mass_properties()
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
index 5765a4d..eb09322 100644
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -63,8 +63,11 @@ impl ColliderSet {
         coll.reset_internal_references();
 
         coll.parent = parent_handle;
+
+        // NOTE: we use `get_mut` instead of `get_mut_internal` so that the
+        // modification flag is updated properly.
         let parent = bodies
-            .get_mut_internal(parent_handle)
+            .get_mut(parent_handle)
             .expect("Parent rigid body not found.");
         coll.position = parent.position * coll.delta;
         coll.predicted_position = parent.predicted_position * coll.delta;
@@ -89,7 +92,9 @@ impl ColliderSet {
         /*
          * Delete the collider from its parent body.
          */
-        if let Some(parent) = bodies.get_mut_internal(collider.parent) {
+        // NOTE: we use `get_mut` instead of `get_mut_internal` so that the
+        // modification flag is updated properly.
+        if let Some(parent) = bodies.get_mut(collider.parent) {
             parent.remove_collider_internal(handle, &collider);
 
             if wake_up {
diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs
index ff5e1ef..040c883 100644
--- a/src_testbed/engine.rs
+++ b/src_testbed/engine.rs
@@ -237,7 +237,7 @@ impl GraphicsManager {
         for collider_handle in bodies[handle].colliders() {
             let color = self.c2color.get(collider_handle).copied().unwrap_or(color);
             let collider = &colliders[*collider_handle];
-            self.add_collider(window, *collider_handle, collider, color, &mut new_nodes);
+            self.do_add_collider(window, *collider_handle, collider, color, &mut new_nodes);
         }
 
         new_nodes.iter_mut().for_each(|n| n.update(colliders));
@@ -256,7 +256,22 @@ impl GraphicsManager {
         nodes.append(&mut new_nodes);
     }
 
-    fn add_collider(
+    pub fn add_collider(
+        &mut self,
+        window: &mut Window,
+        handle: ColliderHandle,
+        colliders: &ColliderSet,
+    ) {
+        let collider = &colliders[handle];
+        let color = *self.b2color.get(&collider.parent()).unwrap();
+        let color = self.c2color.get(&handle).copied().unwrap_or(color);
+        let mut nodes =
+            std::mem::replace(self.b2sn.get_mut(&collider.parent()).unwrap(), Vec::new());
+        self.do_add_collider(window, handle, collider, color, &mut nodes);
+        self.b2sn.insert(collider.parent(), nodes);
+    }
+
+    fn do_add_collider(
         &mut self,
         window: &mut Window,
         handle: ColliderHandle,