Complete the pfm/pfm contact generator.

5 files changed, 94 insertions, 26 deletions

diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 64eb5b6..85b2504 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -13,6 +13,7 @@ use std::cmp::Ordering;
 mod add_remove3;
 mod compound3;
 mod debug_boxes3;
+mod debug_cylinder3;
 mod debug_triangle3;
 mod debug_trimesh3;
 mod domino3;
@@ -76,6 +77,7 @@ pub fn main() {
         ("(Debug) boxes", debug_boxes3::init_world),
         ("(Debug) triangle", debug_triangle3::init_world),
         ("(Debug) trimesh", debug_trimesh3::init_world),
+        ("(Debug) cylinder", debug_cylinder3::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
new file mode 100644
index 0000000..4e7fae1
--- /dev/null
+++ b/examples3d/debug_cylinder3.rs
@@ -0,0 +1,65 @@
+use na::{Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+// This shows a bug when a cylinder is in contact with a very large
+// but very thin cuboid. In this case the EPA returns an incorrect
+// contact normal, resulting in the cylinder falling through the floor.
+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 = 1;
+    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;
+
+    let x = -centerx + offset;
+    let y = centery + 3.0;
+    let z = -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::cylinder(rad, rad).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 main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index 09df815..826df4c 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -54,13 +54,13 @@ pub fn init_world(testbed: &mut Testbed) {
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
 
-                if j % 2 == 0 {
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
-                } else {
-                    let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
-                }
+                let collider = match j % 3 {
+                    0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
+                    1 => ColliderBuilder::ball(rad).build(),
+                    _ => ColliderBuilder::cylinder(rad, rad).build(),
+                };
+
+                colliders.insert(collider, handle, &mut bodies);
             }
         }
     }
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index cf678b9..c3fa799 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -1,4 +1,4 @@
-use na::Point3;
+use na::{Point3, Vector3};
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Ground
      */
     let ground_size = 100.1;
-    let ground_height = 0.1;
+    let ground_height = 2.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
         .translation(0.0, -ground_height, 0.0)
@@ -30,29 +30,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let num = 8;
     let rad = 1.0;
 
-    let shift = rad * 2.0 + rad;
-    let centerx = shift * (num / 2) as f32;
-    let centery = shift / 2.0;
-    let centerz = shift * (num / 2) as f32;
+    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..20 {
         for i in 0..num {
             for k in 0usize..num {
-                let x = i as f32 * shift - centerx + offset;
-                let y = j as f32 * shift + centery + 3.0;
-                let z = k as f32 * shift - centerz + offset;
+                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).build();
                 let handle = bodies.insert(rigid_body);
 
-                let collider = match j % 2 {
+                let collider = match j % 3 {
                     0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
                     1 => ColliderBuilder::ball(rad).build(),
-                    // 2 => ColliderBuilder::capsule_y(rad, rad).build(),
-                    _ => unreachable!(),
+                    _ => ColliderBuilder::cylinder(rad, rad).build(),
                 };
 
                 colliders.insert(collider, handle, &mut bodies);
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
index d022a1f..40aede2 100644
--- a/examples3d/trimesh3.rs
+++ b/examples3d/trimesh3.rs
@@ -64,13 +64,13 @@ pub fn init_world(testbed: &mut Testbed) {
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
 
-                if j % 2 == 0 {
-                    let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
-                } else {
-                    let collider = ColliderBuilder::ball(rad).build();
-                    colliders.insert(collider, handle, &mut bodies);
-                }
+                let collider = match j % 3 {
+                    0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
+                    1 => ColliderBuilder::ball(rad).build(),
+                    _ => ColliderBuilder::cylinder(rad, rad).build(),
+                };
+
+                colliders.insert(collider, handle, &mut bodies);
             }
         }
     }