Merge pull request #21 from dimforge/trimesh_cd_bug

Fix NaN caused by the collision-detection between a vertical triangle and a cuboid.

2 files changed, 70 insertions, 0 deletions

diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 8b0a2fa..64eb5b6 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -14,6 +14,7 @@ mod add_remove3;
 mod compound3;
 mod debug_boxes3;
 mod debug_triangle3;
+mod debug_trimesh3;
 mod domino3;
 mod heightfield3;
 mod joints3;
@@ -74,6 +75,7 @@ pub fn main() {
         ("Keva tower", keva3::init_world),
         ("(Debug) boxes", debug_boxes3::init_world),
         ("(Debug) triangle", debug_triangle3::init_world),
+        ("(Debug) trimesh", debug_trimesh3::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
diff --git a/examples3d/debug_trimesh3.rs b/examples3d/debug_trimesh3.rs
new file mode 100644
index 0000000..0d0b276
--- /dev/null
+++ b/examples3d/debug_trimesh3.rs
@@ -0,0 +1,68 @@
+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();
+
+    // Triangle ground.
+    let width = 0.5;
+    let vtx = vec![
+        Point3::new(-width, 0.0, -width),
+        Point3::new(width, 0.0, -width),
+        Point3::new(width, 0.0, width),
+        Point3::new(-width, 0.0, width),
+        Point3::new(-width, -width, -width),
+        Point3::new(width, -width, -width),
+        Point3::new(width, -width, width),
+        Point3::new(-width, -width, width),
+    ];
+    let idx = vec![
+        Point3::new(0, 1, 2),
+        Point3::new(0, 2, 3),
+        Point3::new(4, 5, 6),
+        Point3::new(4, 6, 7),
+        Point3::new(0, 4, 7),
+        Point3::new(0, 7, 3),
+        Point3::new(1, 5, 6),
+        Point3::new(1, 6, 2),
+        Point3::new(3, 2, 7),
+        Point3::new(2, 6, 7),
+        Point3::new(0, 1, 5),
+        Point3::new(0, 5, 4),
+    ];
+
+    // Dynamic box rigid body.
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 35.0, 0.0)
+        // .rotation(Vector3::new(0.8, 0.2, 0.1))
+        .can_sleep(false)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, 0.0, 0.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::trimesh(vtx, idx).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * 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()
+}