Merge branch 'master' into collider-builder-debug

4 files changed, 140 insertions, 2 deletions

diff --git a/benchmarks3d/all_benchmarks3.rs b/benchmarks3d/all_benchmarks3.rs
index 591886e..c1e0da2 100644
--- a/benchmarks3d/all_benchmarks3.rs
+++ b/benchmarks3d/all_benchmarks3.rs
@@ -20,6 +20,8 @@ mod joint_fixed3;
 mod joint_prismatic3;
 mod joint_revolute3;
 mod keva3;
+mod many_pyramids3;
+mod many_sleep3;
 mod many_static3;
 mod pyramid3;
 mod stacks3;
@@ -56,6 +58,7 @@ pub fn main() {
         ("Compound", compound3::init_world),
         ("Convex polyhedron", convex_polyhedron3::init_world),
         ("Many static", many_static3::init_world),
+        ("Many sleep", many_sleep3::init_world),
         ("Heightfield", heightfield3::init_world),
         ("Stacks", stacks3::init_world),
         ("Pyramid", pyramid3::init_world),
@@ -64,6 +67,7 @@ pub fn main() {
         ("ImpulseJoint fixed", joint_fixed3::init_world),
         ("ImpulseJoint revolute", joint_revolute3::init_world),
         ("ImpulseJoint prismatic", joint_prismatic3::init_world),
+        ("Many pyramids", many_pyramids3::init_world),
         ("Keva tower", keva3::init_world),
     ];
 
diff --git a/benchmarks3d/ccd3.rs b/benchmarks3d/ccd3.rs
index f642739..4f7b2c1 100644
--- a/benchmarks3d/ccd3.rs
+++ b/benchmarks3d/ccd3.rs
@@ -56,8 +56,8 @@ pub fn init_world(testbed: &mut Testbed) {
                     1 => ColliderBuilder::ball(rad),
                     // Rounded cylinders are much more efficient that cylinder, even if the
                     // rounding margin is small.
-                    // 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
-                    // 3 => ColliderBuilder::cone(rad, rad),
+                    2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
+                    3 => ColliderBuilder::cone(rad, rad),
                     _ => ColliderBuilder::capsule_y(rad, rad),
                 };
 
diff --git a/benchmarks3d/many_pyramids3.rs b/benchmarks3d/many_pyramids3.rs
new file mode 100644
index 0000000..1562aec
--- /dev/null
+++ b/benchmarks3d/many_pyramids3.rs
@@ -0,0 +1,80 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+fn create_pyramid(
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    offset: Vector<f32>,
+    stack_height: usize,
+    rad: f32,
+) {
+    let shift = rad * 2.0;
+
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift;
+            let y = fi * shift;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, 0.0] + offset);
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad, rad);
+            colliders.insert_with_parent(collider, handle, bodies);
+        }
+    }
+}
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let rad = 0.5;
+    let pyramid_count = 40;
+    let spacing = 4.0;
+
+    /*
+     * Ground
+     */
+    let ground_size = 50.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(
+        ground_size,
+        ground_height,
+        pyramid_count as f32 * spacing / 2.0 + ground_size,
+    );
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    for pyramid_index in 0..pyramid_count {
+        let bottomy = rad;
+        create_pyramid(
+            &mut bodies,
+            &mut colliders,
+            vector![
+                0.0,
+                bottomy,
+                (pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing
+            ],
+            20,
+            rad,
+        );
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
+}
diff --git a/benchmarks3d/many_sleep3.rs b/benchmarks3d/many_sleep3.rs
new file mode 100644
index 0000000..70f85cc
--- /dev/null
+++ b/benchmarks3d/many_sleep3.rs
@@ -0,0 +1,54 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create the balls
+     */
+    let num = 50;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + 1.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+    let centerz = shift * (num as f32) / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num {
+            for k in 0..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery;
+                let z = k as f32 * shift - centerz;
+
+                let status = if j == 0 {
+                    RigidBodyType::Fixed
+                } else {
+                    RigidBodyType::Dynamic
+                };
+                let density = 0.477;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new(status)
+                    .translation(vector![x, y, z])
+                    .sleeping(true); // j < num - 1);
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::ball(rad).density(density);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
+}