Merge pull request #69 from dimforge/rigid_body_modifications

Track some user-initiated rigid-body modifications

5 files changed, 261 insertions, 1 deletions

diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 88f3f8f..82e72e3 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -13,9 +13,12 @@ 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;
 mod debug_trimesh3;
 mod domino3;
@@ -81,11 +84,20 @@ 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),
         ("(Debug) infinite fall", debug_infinite_fall3::init_world),
+        ("(Debug) rollback", debug_rollback3::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
new file mode 100644
index 0000000..c8d72fc
--- /dev/null
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -0,0 +1,59 @@
+use na::{Isometry3, Point3, Vector3};
+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 = 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).build();
+    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)
+        .build();
+    let ball_handle = bodies.insert(rb);
+    let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
+    colliders.insert(collider, ball_handle, &mut bodies);
+
+    testbed.add_callback(move |window, physics, _, graphics, _| {
+        // Remove then re-add the ground collider.
+        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);
+        graphics.add_collider(window, ground_collider_handle, &physics.colliders);
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
new file mode 100644
index 0000000..4ea6836
--- /dev/null
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -0,0 +1,112 @@
+use na::{Isometry3, Point3, Vector3};
+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 = 20.0;
+    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 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(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_colliders = 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_colliders.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 handle in &extra_colliders {
+                physics.colliders.remove(*handle, &mut physics.bodies, true);
+            }
+
+            extra_colliders.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 new_ground_collider_handle =
+            physics
+                .colliders
+                .insert(coll, ground_handle, &mut physics.bodies);
+        graphics.add_collider(window, new_ground_collider_handle, &physics.colliders);
+        extra_colliders.push(new_ground_collider_handle);
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
new file mode 100644
index 0000000..6479e1f
--- /dev/null
+++ b/examples3d/debug_rollback3.rs
@@ -0,0 +1,77 @@
+use na::{Isometry3, Point3, Vector3};
+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 = 20.0;
+    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 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(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 snapped_frame = 51;
+
+    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 {
+            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;
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}
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;