Merge pull request #157 from dimforge/ccd

Implement Continuous Collision Detection

2 files changed, 87 insertions, 0 deletions

diff --git a/benchmarks3d/all_benchmarks3.rs b/benchmarks3d/all_benchmarks3.rs
index f35cb8e..38d71cd 100644
--- a/benchmarks3d/all_benchmarks3.rs
+++ b/benchmarks3d/all_benchmarks3.rs
@@ -13,6 +13,7 @@ use std::cmp::Ordering;
 mod balls3;
 mod boxes3;
 mod capsules3;
+mod ccd3;
 mod compound3;
 mod convex_polyhedron3;
 mod heightfield3;
@@ -52,6 +53,7 @@ pub fn main() {
         ("Balls", balls3::init_world),
         ("Boxes", boxes3::init_world),
         ("Capsules", capsules3::init_world),
+        ("CCD", ccd3::init_world),
         ("Compound", compound3::init_world),
         ("Convex polyhedron", convex_polyhedron3::init_world),
         ("Heightfield", heightfield3::init_world),
diff --git a/benchmarks3d/ccd3.rs b/benchmarks3d/ccd3.rs
new file mode 100644
index 0000000..f1831e7
--- /dev/null
+++ b/benchmarks3d/ccd3.rs
@@ -0,0 +1,85 @@
+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+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 = 4;
+    let numj = 20;
+    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 mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+    for j in 0usize..numj {
+        for i in 0..num {
+            for k in 0usize..num {
+                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)
+                    .linvel(0.0, -1000.0, 0.0)
+                    .ccd_enabled(true)
+                    .build();
+                let handle = bodies.insert(rigid_body);
+
+                let collider = match j % 5 {
+                    0 => ColliderBuilder::cuboid(rad, rad, rad),
+                    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),
+                    _ => ColliderBuilder::capsule_y(rad, rad),
+                };
+
+                colliders.insert(collider.build(), handle, &mut bodies);
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+
+    /*
+     * 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()
+}