Merge pull request #41 from dimforge/cylinder

Add cylinder and cone support + use a trait-object for shapes.

66 files changed, 2102 insertions, 639 deletions

diff --git a/.github/workflows/rapier-ci-bench.yml b/.github/workflows/rapier-ci-bench.yml
index 9cce1b2..6c4f007 100644
--- a/.github/workflows/rapier-ci-bench.yml
+++ b/.github/workflows/rapier-ci-bench.yml
@@ -18,15 +18,17 @@ jobs:
       BENCHBOT_TARGET_COMMIT: ${{ github.event.pull_request.head.sha }}
       BENCHBOT_SHA: ${{ github.sha }}
       BENCHBOT_HEAD_REF: ${{github.head_ref}}
+      BENCHBOT_OTHER_BACKENDS: false
     runs-on: ubuntu-latest
     steps:
       - name: Find commit SHA
         if: github.ref == 'refs/heads/master'
         run: |
           echo "::set-env name=BENCHBOT_TARGET_COMMIT::$BENCHBOT_SHA"
+          echo "::set-env name=BENCHBOT_OTHER_BACKENDS::true"
       - name: Send 3D bench message
         shell: bash
         run: curl -u $BENCHBOT_AMQP_USER:$BENCHBOT_AMQP_PASS
              -i -H "content-type:application/json" -X POST
              https://$BENCHBOT_AMQP_HOST/api/exchanges/$BENCHBOT_AMQP_VHOST//publish
-            -d'{"properties":{},"routing_key":"benchmark","payload":"{ \"repository\":\"https://github.com/'$BENCHBOT_TARGET_REPO'\", \"branch\":\"'$GITHUB_REF'\", \"commit\":\"'$BENCHBOT_TARGET_COMMIT'\" }","payload_encoding":"string"}'
\ No newline at end of file
+            -d'{"properties":{},"routing_key":"benchmark","payload":"{ \"repository\":\"https://github.com/'$BENCHBOT_TARGET_REPO'\", \"branch\":\"'$GITHUB_REF'\", \"commit\":\"'$BENCHBOT_TARGET_COMMIT'\", \"other_backends\":'$BENCHBOT_OTHER_BACKENDS' }","payload_encoding":"string"}'
\ No newline at end of file
diff --git a/Cargo.toml b/Cargo.toml
index 944fa40..cfb166a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -5,6 +5,11 @@ members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d", "benchmark
 [patch.crates-io]
 #wrapped2d = { git = "https://github.com/Bastacyclop/rust_box2d.git" }
 #simba = { path = "../simba" }
+#ncollide2d = { path = "../ncollide/build/ncollide2d" }
+#ncollide3d = { path = "../ncollide/build/ncollide3d" }
+#nphysics2d = { path = "../nphysics/build/nphysics2d" }
+#nphysics3d = { path = "../nphysics/build/nphysics3d" }
+#kiss3d = { path = "../kiss3d" }
 
 [profile.release]
 #debug = true
diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml
index b1ee8db..90a6326 100644
--- a/benchmarks2d/Cargo.toml
+++ b/benchmarks2d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.22"
+nalgebra = "0.23"
 
 [dependencies.rapier_testbed2d]
 path = "../build/rapier_testbed2d"
diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml
index 81c843a..03194df 100644
--- a/benchmarks3d/Cargo.toml
+++ b/benchmarks3d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.22"
+nalgebra = "0.23"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml
index 6d60b37..d6e5a29 100644
--- a/build/rapier2d/Cargo.toml
+++ b/build/rapier2d/Cargo.toml
@@ -1,4 +1,3 @@
-# Name idea: bident for 2D and trident for 3D
 [package]
 name    = "rapier2d"
 version = "0.2.1"
@@ -22,7 +21,7 @@ simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = [ ]
 wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "ncollide2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ]
+serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "ncollide2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "indexmap" ]
 
 [lib]
@@ -35,18 +34,21 @@ required-features = [ "dim2" ]
 vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.22"
-ncollide2d = "0.24"
-simba = "^0.2.1"
-approx = "0.3"
+nalgebra = "0.23"
+ncollide2d = "0.26"
+simba = "0.3"
+approx = "0.4"
 rayon = { version = "1", optional = true }
-crossbeam = "0.7"
+crossbeam = "0.8"
 generational-arena = "0.2"
 arrayvec = "0.5"
 bit-vec = "0.6"
 rustc-hash = "1"
 serde = { version = "1", features = [ "derive" ], optional = true }
+erased-serde = { version = "0.3", optional = true }
 indexmap = { version = "1", features = [ "serde-1" ], optional = true }
+downcast-rs = "1.2"
+num-derive = "0.3"
 
 [dev-dependencies]
 bincode = "1"
diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml
index dcc2125..e9b9808 100644
--- a/build/rapier3d/Cargo.toml
+++ b/build/rapier3d/Cargo.toml
@@ -1,4 +1,3 @@
-# Name idea: bident for 2D and trident for 3D
 [package]
 name    = "rapier3d"
 version = "0.2.1"
@@ -22,7 +21,7 @@ simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = [ ]
 wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "ncollide3d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde" ]
+serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "ncollide3d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "indexmap" ]
 
 [lib]
@@ -35,18 +34,22 @@ required-features = [ "dim3" ]
 vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.22"
-ncollide3d = "0.24"
-simba = "^0.2.1"
-approx = "0.3"
+nalgebra = "0.23"
+ncollide3d = "0.26"
+simba = "0.3"
+approx = "0.4"
 rayon = { version = "1", optional = true }
-crossbeam = "0.7"
+crossbeam = "0.8"
 generational-arena = "0.2"
 arrayvec = "0.5"
 bit-vec = "0.6"
 rustc-hash = "1"
 serde = { version = "1", features = [ "derive" ], optional = true }
+erased-serde = { version = "0.3", optional = true }
 indexmap = { version = "1", features = [ "serde-1" ], optional = true }
+downcast-rs = "1.2"
+num-derive = "0.3"
+
 
 [dev-dependencies]
 bincode = "1"
diff --git a/build/rapier_testbed2d/Cargo.toml b/build/rapier_testbed2d/Cargo.toml
index eeecb2a..87610c3 100644
--- a/build/rapier_testbed2d/Cargo.toml
+++ b/build/rapier_testbed2d/Cargo.toml
@@ -23,17 +23,17 @@ other-backends = [ "wrapped2d", "nphysics2d" ]
 
 
 [dependencies]
-nalgebra   = "0.22"
-kiss3d     = { version = "0.25", features = [ "conrod" ] }
+nalgebra   = "0.23"
+kiss3d     = { version = "0.27", features = [ "conrod" ] }
 rand       = "0.7"
 rand_pcg   = "0.2"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
 num_cpus   = { version = "1", optional = true }
 wrapped2d  = { version = "0.4", optional = true }
-ncollide2d = "0.24"
-nphysics2d = { version = "0.17", optional = true }
-crossbeam = "0.7"
+ncollide2d = "0.26"
+nphysics2d = { version = "0.18", optional = true }
+crossbeam = "0.8"
 bincode = "1"
 flexbuffers = "0.1"
 Inflector  = "0.11"
diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
index 7675701..e99d741 100644
--- a/build/rapier_testbed3d/Cargo.toml
+++ b/build/rapier_testbed3d/Cargo.toml
@@ -22,19 +22,19 @@ parallel = [ "rapier3d/parallel", "num_cpus" ]
 other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
 
 [dependencies]
-nalgebra   = "0.22"
-kiss3d     = { version = "0.25", features = [ "conrod" ] }
+nalgebra   = "0.23"
+kiss3d     = { version = "0.27", features = [ "conrod" ] }
 rand       = "0.7"
 rand_pcg   = "0.2"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
-glam       = { version = "0.8", optional = true }
+glam       = { version = "0.9", optional = true }
 num_cpus   = { version = "1", optional = true }
-ncollide3d = "0.24"
-nphysics3d = { version = "0.17", optional = true }
-physx      = { version = "0.6", optional = true }
+ncollide3d = "0.26"
+nphysics3d = { version = "0.18", optional = true }
+physx      = { version = "0.7", optional = true }
 physx-sys = { version = "0.4", optional = true }
-crossbeam = "0.7"
+crossbeam = "0.8"
 bincode = "1"
 flexbuffers = "0.1"
 serde_cbor = "0.11"
diff --git a/examples2d/Cargo.toml b/examples2d/Cargo.toml
index ad63958..f1ed728 100644
--- a/examples2d/Cargo.toml
+++ b/examples2d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.22"
+nalgebra = "0.23"
 
 [dependencies.rapier_testbed2d]
 path = "../build/rapier_testbed2d"
diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index efc3cce..5362554 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.22"
+nalgebra = "0.23"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 64eb5b6..85b2504 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -13,6 +13,7 @@ use std::cmp::Ordering;
 mod add_remove3;
 mod compound3;
 mod debug_boxes3;
+mod debug_cylinder3;
 mod debug_triangle3;
 mod debug_trimesh3;
 mod domino3;
@@ -76,6 +77,7 @@ pub fn main() {
         ("(Debug) boxes", debug_boxes3::init_world),
         ("(Debug) triangle", debug_triangle3::init_world),
         ("(Debug) trimesh", debug_trimesh3::init_world),
+        ("(Debug) cylinder", debug_cylinder3::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
new file mode 100644
index 0000000..0717c67
--- /dev/null
+++ b/examples3d/debug_cylinder3.rs
@@ -0,0 +1,65 @@
+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+// This shows a bug when a cylinder is in contact with a very large
+// but very thin cuboid. In this case the EPA returns an incorrect
+// contact normal, resulting in the cylinder falling through the floor.
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.1;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 1;
+    let rad = 1.0;
+
+    let shiftx = rad * 2.0 + rad;
+    let shifty = rad * 2.0 + rad;
+    let shiftz = rad * 2.0 + rad;
+    let centerx = shiftx * (num / 2) as f32;
+    let centery = shifty / 2.0;
+    let centerz = shiftz * (num / 2) as f32;
+
+    let offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+    let x = -centerx + offset;
+    let y = centery + 3.0;
+    let z = -centerz + offset;
+
+    // Build the rigid body.
+    let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cylinder(rad, rad).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index 09df815..6af93c7 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -54,13 +54,17 @@ pub fn init_world(testbed: &mut Testbed) {
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
 
-                if j % 2 == 0 {
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
-                } else {
-                    let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
-                }
+                let collider = match j % 5 {
+                    0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
+                    1 => ColliderBuilder::ball(rad).build(),
+                    // Rounded cylinders are much more efficient that cylinder, even if the
+                    // rounding margin is small.
+                    2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
+                    3 => ColliderBuilder::cone(rad, rad).build(),
+                    _ => ColliderBuilder::capsule_y(rad, rad).build(),
+                };
+
+                colliders.insert(collider, handle, &mut bodies);
             }
         }
     }
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index cf678b9..db15341 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Ground
      */
     let ground_size = 100.1;
-    let ground_height = 0.1;
+    let ground_height = 2.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
         .translation(0.0, -ground_height, 0.0)
@@ -30,29 +30,34 @@ pub fn init_world(testbed: &mut Testbed) {
     let num = 8;
     let rad = 1.0;
 
-    let shift = rad * 2.0 + rad;
-    let centerx = shift * (num / 2) as f32;
-    let centery = shift / 2.0;
-    let centerz = shift * (num / 2) as f32;
+    let shiftx = rad * 2.0 + rad;
+    let shifty = rad * 2.0 + rad;
+    let shiftz = rad * 2.0 + rad;
+    let centerx = shiftx * (num / 2) as f32;
+    let centery = shifty / 2.0;
+    let centerz = shiftz * (num / 2) as f32;
 
     let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
 
     for j in 0usize..20 {
         for i in 0..num {
             for k in 0usize..num {
-                let x = i as f32 * shift - centerx + offset;
-                let y = j as f32 * shift + centery + 3.0;
-                let z = k as f32 * shift - centerz + offset;
+                let x = i as f32 * shiftx - centerx + offset;
+                let y = j as f32 * shifty + centery + 3.0;
+                let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
 
-                let collider = match j % 2 {
+                let collider = match j % 5 {
                     0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
                     1 => ColliderBuilder::ball(rad).build(),
-                    // 2 => ColliderBuilder::capsule_y(rad, rad).build(),
-                    _ => unreachable!(),
+                    // Rounded cylinders are much more efficient that cylinder, even if the
+                    // rounding margin is small.
+                    2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
+                    3 => ColliderBuilder::cone(rad, rad).build(),
+                    _ => ColliderBuilder::capsule_y(rad, rad).build(),
                 };
 
                 colliders.insert(collider, handle, &mut bodies);
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
index d022a1f..2a96bda 100644
--- a/examples3d/trimesh3.rs
+++ b/examples3d/trimesh3.rs
@@ -64,13 +64,17 @@ pub fn init_world(testbed: &mut Testbed) {
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
 
-                if j % 2 == 0 {
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
-                } else {
-                    let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
-                }
+                let collider = match j % 5 {
+                    0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
+                    1 => ColliderBuilder::ball(rad).build(),
+                    // Rounded cylinders are much more efficient that cylinder, even if the
+                    // rounding margin is small.
+                    2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
+                    3 => ColliderBuilder::cone(rad, rad).build(),
+                    _ => ColliderBuilder::capsule_y(rad, rad).build(),
+                };
+
+                colliders.insert(collider, handle, &mut bodies);
             }
         }
     }