Merge pull request #79 from dimforge/split_geom

Move most of the geometric code to another crate.

30 files changed, 38188 insertions, 239 deletions

diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index 5362554..3f1d3f0 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -14,7 +14,8 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.23"
+nalgebra   = "0.24"
+kiss3d     = "0.29"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
@@ -25,3 +26,7 @@ path = "../build/rapier3d"
 [[bin]]
 name = "all_examples3"
 path = "./all_examples3.rs"
+
+[[bin]]
+name = "harness_capsules3"
+path = "./harness_capsules3.rs"
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 4bc15a8..9cbf4c3 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -12,6 +12,8 @@ use std::cmp::Ordering;
 
 mod collision_groups3;
 mod compound3;
+mod convex_decomposition3;
+mod convex_polyhedron3;
 mod damping3;
 mod debug_add_remove_collider3;
 mod debug_boxes3;
@@ -31,7 +33,6 @@ mod platform3;
 mod primitives3;
 mod restitution3;
 mod sensor3;
-mod stacks3;
 mod trimesh3;
 
 fn demo_name_from_command_line() -> Option<String> {
@@ -75,6 +76,8 @@ pub fn main() {
         ("Primitives", primitives3::init_world),
         ("Collision groups", collision_groups3::init_world),
         ("Compound", compound3::init_world),
+        ("Convex decomposition", convex_decomposition3::init_world),
+        ("Convex polyhedron", convex_polyhedron3::init_world),
         ("Damping", damping3::init_world),
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),
@@ -82,9 +85,8 @@ pub fn main() {
         ("Locked rotations", locked_rotations3::init_world),
         ("Platform", platform3::init_world),
         ("Restitution", restitution3::init_world),
-        ("Stacks", stacks3::init_world),
         ("Sensor", sensor3::init_world),
-        ("Trimesh", trimesh3::init_world),
+        ("TriMesh", trimesh3::init_world),
         ("Keva tower", keva3::init_world),
         (
             "(Debug) add/rm collider",
diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs
index 34a654d..4168fe9 100644
--- a/examples3d/compound3.rs
+++ b/examples3d/compound3.rs
@@ -1,6 +1,6 @@
-use na::Point3;
+use na::{Isometry3, Point3};
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -28,6 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Create the cubes
      */
     let num = 8;
+    let numy = 15;
     let rad = 0.2;
 
     let shift = rad * 4.0 + rad;
@@ -37,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
 
-    for j in 0usize..15 {
+    for j in 0usize..numy {
         for i in 0..num {
             for k in 0usize..num {
                 let x = i as f32 * shift * 5.0 - centerx + offset;
@@ -47,16 +48,39 @@ pub fn init_world(testbed: &mut Testbed) {
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
-                let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
-                let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(rad * 10.0, rad * 10.0, 0.0)
-                    .build();
-                let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
-                    .translation(-rad * 10.0, rad * 10.0, 0.0)
-                    .build();
-                colliders.insert(collider1, handle, &mut bodies);
-                colliders.insert(collider2, handle, &mut bodies);
-                colliders.insert(collider3, handle, &mut bodies);
+
+                // First option: attach several colliders to a single rigid-body.
+                if j < numy / 2 {
+                    let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
+                    let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
+                        .translation(rad * 10.0, rad * 10.0, 0.0)
+                        .build();
+                    let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
+                        .translation(-rad * 10.0, rad * 10.0, 0.0)
+                        .build();
+                    colliders.insert(collider1, handle, &mut bodies);
+                    colliders.insert(collider2, handle, &mut bodies);
+                    colliders.insert(collider3, handle, &mut bodies);
+                } else {
+                    // Second option: create a compound shape and attach it to a single collider.
+                    let shapes = vec![
+                        (
+                            Isometry3::identity(),
+                            SharedShape::cuboid(rad * 10.0, rad, rad),
+                        ),
+                        (
+                            Isometry3::translation(rad * 10.0, rad * 10.0, 0.0),
+                            SharedShape::cuboid(rad, rad * 10.0, rad),
+                        ),
+                        (
+                            Isometry3::translation(-rad * 10.0, rad * 10.0, 0.0),
+                            SharedShape::cuboid(rad, rad * 10.0, rad),
+                        ),
+                    ];
+
+                    let collider = ColliderBuilder::compound(shapes).build();
+                    colliders.insert(collider, handle, &mut bodies);
+                }
             }
         }
 
diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs
new file mode 100644
index 0000000..e175f57
--- /dev/null
+++ b/examples3d/convex_decomposition3.rs
@@ -0,0 +1,133 @@
+use kiss3d::loader::obj;
+use na::{Point3, Translation3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
+use rapier3d::parry::bounding_volume::{self, BoundingVolume};
+use rapier_testbed3d::Testbed;
+use std::path::Path;
+
+/*
+ * NOTE: The `r` macro is only here to convert from f64 to the `N` scalar type.
+ * This simplifies experimentation with various scalar types (f32, fixed-point numbers, etc.)
+ */
+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 = 50.0;
+    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 convex decompositions.
+     */
+    let geoms = models();
+    let ngeoms = geoms.len();
+    let width = (ngeoms as f32).sqrt() as usize;
+    let num_duplications = 4;
+    let shift = 5.0f32;
+
+    for (igeom, obj_path) in geoms.into_iter().enumerate() {
+        let deltas = na::one();
+        let mtl_path = Path::new("");
+
+        let mut shapes = Vec::new();
+        println!("Parsing and decomposing: {}", obj_path);
+        let obj = obj::parse_file(&Path::new(&obj_path), &mtl_path, "");
+
+        if let Ok(model) = obj {
+            let meshes: Vec<_> = model
+                .into_iter()
+                .map(|mesh| mesh.1.to_trimesh().unwrap())
+                .collect();
+
+            // Compute the size of the model, to scale it and have similar size for everything.
+            let mut aabb =
+                bounding_volume::details::point_cloud_aabb(&deltas, &meshes[0].coords[..]);
+
+            for mesh in meshes[1..].iter() {
+                aabb.merge(&bounding_volume::details::point_cloud_aabb(
+                    &deltas,
+                    &mesh.coords[..],
+                ));
+            }
+
+            let center = aabb.center().coords;
+            let diag = (aabb.maxs - aabb.mins).norm();
+
+            for mut trimesh in meshes.into_iter() {
+                trimesh.translate_by(&Translation3::from(-center));
+                trimesh.scale_by_scalar(6.0 / diag);
+
+                let vertices = trimesh.coords;
+                let indices: Vec<_> = trimesh
+                    .indices
+                    .unwrap_unified()
+                    .into_iter()
+                    .map(|idx| [idx.x, idx.y, idx.z])
+                    .collect();
+
+                let decomposed_shape = SharedShape::convex_decomposition(&vertices, &indices);
+                shapes.push(decomposed_shape);
+            }
+
+            // let compound = SharedShape::compound(compound_parts);
+
+            for k in 1..num_duplications + 1 {
+                let x = (igeom % width) as f32 * shift;
+                let y = (igeom / width) as f32 * shift + 4.0;
+                let z = k as f32 * shift;
+
+                let body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(body);
+
+                for shape in &shapes {
+                    let collider = ColliderBuilder::new(shape.clone()).build();
+                    colliders.insert(collider, handle, &mut bodies);
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+}
+
+fn models() -> Vec<String> {
+    vec![
+        "media/models/camel_decimated.obj".to_string(),
+        "media/models/chair.obj".to_string(),
+        "media/models/cup_decimated.obj".to_string(),
+        "media/models/dilo_decimated.obj".to_string(),
+        "media/models/feline_decimated.obj".to_string(),
+        "media/models/genus3_decimated.obj".to_string(),
+        "media/models/hand2_decimated.obj".to_string(),
+        "media/models/hand_decimated.obj".to_string(),
+        "media/models/hornbug.obj".to_string(),
+        "media/models/octopus_decimated.obj".to_string(),
+        "media/models/rabbit_decimated.obj".to_string(),
+        "media/models/rust_logo.obj".to_string(),
+        "media/models/rust_logo_simplified.obj".to_string(),
+        "media/models/screwdriver_decimated.obj".to_string(),
+        "media/models/table.obj".to_string(),
+        "media/models/tstTorusModel.obj".to_string(),
+        // "media/models/tstTorusModel2.obj".to_string(),
+        // "media/models/tstTorusModel3.obj".to_string(),
+    ]
+}
diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs
new file mode 100644
index 0000000..3cbcbf1
--- /dev/null
+++ b/examples3d/convex_polyhedron3.rs
@@ -0,0 +1,78 @@
+use na::Point3;
+use rand::distributions::{Distribution, Standard};
+use rand::{rngs::StdRng, SeedableRng};
+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 = 40.0;
+    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 polyhedra
+     */
+    let num = 5;
+    let scale = 2.0;
+    let border_rad = 0.1;
+
+    let shift = border_rad * 2.0 + scale;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f32;
+
+    let mut rng = StdRng::seed_from_u64(0);
+    let distribution = Standard;
+
+    for j in 0usize..25 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery + 3.0;
+                let z = k as f32 * shift - centerz;
+
+                let mut points = Vec::new();
+                for _ in 0..10 {
+                    let pt: Point3<f32> = distribution.sample(&mut rng);
+                    points.push(pt * scale);
+                }
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
+                    .unwrap()
+                    .build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}
diff --git a/examples3d/debug_trimesh3.rs b/examples3d/debug_trimesh3.rs
index 0d0b276..186e673 100644
--- a/examples3d/debug_trimesh3.rs
+++ b/examples3d/debug_trimesh3.rs
@@ -24,18 +24,18 @@ pub fn init_world(testbed: &mut Testbed) {
         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),
+        [0, 1, 2],
+        [0, 2, 3],
+        [4, 5, 6],
+        [4, 6, 7],
+        [0, 4, 7],
+        [0, 7, 3],
+        [1, 5, 6],
+        [1, 6, 2],
+        [3, 2, 7],
+        [2, 6, 7],
+        [0, 1, 5],
+        [0, 5, 4],
     ];
 
     // Dynamic box rigid body.
diff --git a/examples3d/harness_capsules3.rs b/examples3d/harness_capsules3.rs
new file mode 100644
index 0000000..4632811
--- /dev/null
+++ b/examples3d/harness_capsules3.rs
@@ -0,0 +1,72 @@
+extern crate nalgebra as na;
+
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::harness::Harness;
+
+pub fn init_world(harness: &mut Harness) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 200.1;
+    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 = 8;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let shifty = rad * 4.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f32;
+
+    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+    for j in 0usize..47 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx + offset;
+                let y = j as f32 * shifty + centery + 3.0;
+                let z = k as f32 * shift - centerz + offset;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::capsule_y(rad, rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+
+    /*
+     * Set up the harness.
+     */
+    harness.set_world(bodies, colliders, joints);
+}
+
+fn main() {
+    let harness = &mut Harness::new_empty();
+    init_world(harness);
+    harness.set_max_steps(10000);
+    harness.run();
+    println!("{}", harness.state.timestep_id);
+}
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index 6558614..f603bb1 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -1,6 +1,6 @@
-use na::{ComplexField, DMatrix, Point3, Vector3};
+use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3};
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
             // NOTE: make sure we use the sin/cos from simba to ensure
             // cross-platform determinism of the example when the
             // enhanced_determinism feature is enabled.
-            <f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
+            ComplexField::sin(x) + ComplexField::cos(z)
         }
     });
 
@@ -58,14 +58,32 @@ pub fn init_world(testbed: &mut Testbed) {
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
 
-                let collider = match j % 5 {
+                let collider = match j % 6 {
                     0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
                     1 => ColliderBuilder::ball(rad).build(),
                     // Rounded cylinders are much more efficient that cylinder, even if the
                     // rounding margin is small.
                     2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
                     3 => ColliderBuilder::cone(rad, rad).build(),
-                    _ => ColliderBuilder::capsule_y(rad, rad).build(),
+                    4 => ColliderBuilder::capsule_y(rad, rad).build(),
+                    _ => {
+                        let shapes = vec![
+                            (
+                                Isometry3::identity(),
+                                SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
+                            ),
+                            (
+                                Isometry3::translation(rad, 0.0, 0.0),
+                                SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
+                            ),
+                            (
+                                Isometry3::translation(-rad, 0.0, 0.0),
+                                SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
+                            ),
+                        ];
+
+                        ColliderBuilder::compound(shapes).build()
+                    }
                 };
 
                 colliders.insert(collider, handle, &mut bodies);
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index dd56958..d777655 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -196,16 +196,16 @@ fn create_ball_joints(
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
-                .translation(fk * shift, 0.0, fi * shift)
+                .translation(fk * shift, 0.0, fi * shift * 2.0)
                 .build();
             let child_handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad).build();
+            let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
             colliders.insert(collider, child_handle, bodies);
 
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
+                let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift * 2.0));
                 joints.insert(bodies, parent_handle, child_handle, joint);
             }
 
diff --git a/examples3d/locked_rotations3.rs b/examples3d/locked_rotations3.rs
index a39895a..c626925 100644
--- a/examples3d/locked_rotations3.rs
+++ b/examples3d/locked_rotations3.rs
@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_dynamic()
         .translation(0.0, 3.0, 0.0)
         .lock_translations()
-        .principal_angular_inertia(Vector3::zeros(), Vector3::new(true, false, false))
+        .restrict_rotations(true, false, false)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();
@@ -50,6 +50,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
     colliders.insert(collider, handle, &mut bodies);
+    let collider = ColliderBuilder::capsule_x(0.6, 0.4).build();
+    colliders.insert(collider, handle, &mut bodies);
 
     /*
      * Set up the testbed.
diff --git a/examples3d/media/models/camel_decimated.obj b/examples3d/media/models/camel_decimated.obj
new file mode 100644
index 0000000..f63ad44
--- /dev/null
+++ b/examples3d/media/models/camel_decimated.obj
@@ -0,0 +1,3004 @@
+# 1002
+# 2000
+v -0.050388 -0.350210 0.022403
+v -0.048678 -0.130496 0.060662
+v -0.044669 0.243192 0.277197
+v 0.078833 0.022370 -0.015607
+v 0.050680 0.007189 -0.013118
+v 0.084614 0.010521 0.031128
+v 0.050878 -0.022492 0.024685
+v 0.033090 -0.371687 -0.424968
+v 0.075191 0.093570 -0.253683
+v -0.051764 -0.014380 0.025295
+v -0.076064 -0.014582 0.026880
+v -0.031546 0.449722 0.269074
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