Fix BroadPhase proxy handle recycling causing a crash.

4 files changed, 60 insertions, 5 deletions

diff --git a/examples3d/add_remove3.rs b/examples3d/add_remove3.rs
new file mode 100644
index 0000000..cf565e0
--- /dev/null
+++ b/examples3d/add_remove3.rs
@@ -0,0 +1,53 @@
+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) {
+    let bodies = RigidBodySet::new();
+    let colliders = ColliderSet::new();
+    let joints = JointSet::new();
+    let rad = 0.5;
+
+    // Callback that will be executed on the main loop to handle proximities.
+    testbed.add_callback(move |window, physics, _, graphics, _| {
+        let rigid_body = RigidBodyBuilder::new_dynamic()
+            .translation(0.0, 10.0, 0.0)
+            .build();
+        let handle = physics.bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+        physics
+            .colliders
+            .insert(collider, handle, &mut physics.bodies);
+        graphics.add(window, handle, &physics.bodies, &physics.colliders);
+
+        let to_remove: Vec<_> = physics
+            .bodies
+            .iter()
+            .filter(|(_, b)| b.position.translation.vector.y < -10.0)
+            .map(|e| e.0)
+            .collect();
+        for handle in to_remove {
+            physics.pipeline.remove_rigid_body(
+                handle,
+                &mut physics.broad_phase,
+                &mut physics.narrow_phase,
+                &mut physics.bodies,
+                &mut physics.colliders,
+                &mut physics.joints,
+            );
+            graphics.remove_body_nodes(window, handle);
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(-30.0, -4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Add-remove", init_world)]);
+    testbed.run()
+}
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 10b8f33..04b9b36 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -10,6 +10,7 @@ use inflector::Inflector;
 use rapier_testbed3d::Testbed;
 use std::cmp::Ordering;
 
+mod add_remove3;
 mod balls3;
 mod boxes3;
 mod capsules3;
@@ -66,6 +67,7 @@ pub fn main() {
         .to_camel_case();
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
+        ("Add remove", add_remove3::init_world),
         ("Balls", balls3::init_world),
         ("Boxes", boxes3::init_world),
         ("Capsules", capsules3::init_world),
diff --git a/examples3d/kinematic3.rs b/examples3d/kinematic3.rs
index d6f2014..a9adc8c 100644
--- a/examples3d/kinematic3.rs
+++ b/examples3d/kinematic3.rs
@@ -66,8 +66,8 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Setup a callback to control the platform.
      */
-    testbed.add_callback(move |bodies, _, _, _, time| {
-        let mut platform = bodies.get_mut(platform_handle).unwrap();
+    testbed.add_callback(move |_, physics, _, _, time| {
+        let mut platform = physics.bodies.get_mut(platform_handle).unwrap();
         let mut next_pos = platform.position;
 
         let dt = 0.016;
diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs
index 50c051f..598b0ad 100644
--- a/examples3d/sensor3.rs
+++ b/examples3d/sensor3.rs
@@ -73,15 +73,15 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
 
     // Callback that will be executed on the main loop to handle proximities.
-    testbed.add_callback(move |_, colliders, events, graphics, _| {
+    testbed.add_callback(move |_, physics, events, graphics, _| {
         while let Ok(prox) = events.proximity_events.try_recv() {
             let color = match prox.new_status {
                 Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
                 Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0),
             };
 
-            let parent_handle1 = colliders.get(prox.collider1).unwrap().parent();
-            let parent_handle2 = colliders.get(prox.collider2).unwrap().parent();
+            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
 
             if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
                 graphics.set_body_color(parent_handle1, color);