Merge pull request #183 from dimforge/bundles

Make Rapier accept any kind of data storage instead of RigidBodySet/ColliderSet

8 files changed, 177 insertions, 36 deletions

diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 2611a2f..8031814 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -25,6 +25,7 @@ mod debug_friction3;
 mod debug_infinite_fall3;
 mod debug_prismatic3;
 mod debug_rollback3;
+mod debug_shape_modification3;
 mod debug_triangle3;
 mod debug_trimesh3;
 mod domino3;
@@ -112,6 +113,10 @@ pub fn main() {
         ("(Debug) infinite fall", debug_infinite_fall3::init_world),
         ("(Debug) prismatic", debug_prismatic3::init_world),
         ("(Debug) rollback", debug_rollback3::init_world),
+        (
+            "(Debug) shape modification",
+            debug_shape_modification3::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
index f353162..9aab754 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -38,7 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
         // Remove then re-add the ground collider.
         let coll = physics
             .colliders
-            .remove(ground_collider_handle, &mut physics.bodies, true)
+            .remove(
+                ground_collider_handle,
+                &mut physics.islands,
+                &mut physics.bodies,
+                true,
+            )
             .unwrap();
         ground_collider_handle = physics
             .colliders
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index bd7205e..61c1482 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -79,7 +79,9 @@ pub fn init_world(testbed: &mut Testbed) {
             step = snapped_frame;
 
             for handle in &extra_colliders {
-                physics.colliders.remove(*handle, &mut physics.bodies, true);
+                physics
+                    .colliders
+                    .remove(*handle, &mut physics.islands, &mut physics.bodies, true);
             }
 
             extra_colliders.clear();
diff --git a/examples3d/debug_shape_modification3.rs b/examples3d/debug_shape_modification3.rs
new file mode 100644
index 0000000..7ec06dd
--- /dev/null
+++ b/examples3d/debug_shape_modification3.rs
@@ -0,0 +1,123 @@
+use na::{Isometry3, Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
+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, ground_size)
+        .friction(0.15)
+        // .restitution(0.5)
+        .build();
+    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();
+    let ball_coll_handle = 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 |_, _, physics, _, _| {
+        step += 1;
+
+        // Snap the ball velocity or restore it.
+        let 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;
+        }
+
+        let ball_coll = physics.colliders.get_mut(ball_coll_handle).unwrap();
+        ball_coll.set_shape(SharedShape::ball(ball_rad * step as f32 * 2.0));
+    });
+
+    /*
+     * Create the primitives
+     */
+    let num = 8;
+    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;
+
+    for j in 0usize..20 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shiftx - centerx + offset + 5.0;
+                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 % 5 {
+                    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(),
+                };
+
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+
+        offset -= 0.05 * rad * (num as f32 - 1.0);
+    }
+
+    /*
+     * 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/fountain3.rs b/examples3d/fountain3.rs
index 6c80562..08e1dfe 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -61,9 +61,12 @@ pub fn init_world(testbed: &mut Testbed) {
 
             let num_to_remove = to_remove.len() - MAX_NUMBER_OF_BODIES;
             for (handle, _) in &to_remove[..num_to_remove] {
-                physics
-                    .bodies
-                    .remove(*handle, &mut physics.colliders, &mut physics.joints);
+                physics.bodies.remove(
+                    *handle,
+                    &mut physics.islands,
+                    &mut physics.colliders,
+                    &mut physics.joints,
+                );
 
                 if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
                     graphics.remove_body_nodes(window, *handle);
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index 6ba9461..5b082fb 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -1,7 +1,7 @@
 use na::{Isometry3, Point3, Unit, UnitQuaternion, Vector3};
 use rapier3d::dynamics::{
-    BallJoint, BodyStatus, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder,
-    RigidBodyHandle, RigidBodySet,
+    BallJoint, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder,
+    RigidBodyHandle, RigidBodySet, RigidBodyType,
 };
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -203,9 +203,9 @@ fn create_fixed_joints(
             // fixed bodies. Because physx will crash if we add
             // a joint between these.
             let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
-                BodyStatus::Static
+                RigidBodyType::Static
             } else {
-                BodyStatus::Dynamic
+                RigidBodyType::Dynamic
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
@@ -258,9 +258,9 @@ fn create_ball_joints(
             let fi = i as f32;
 
             let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
-                BodyStatus::Static
+                RigidBodyType::Static
             } else {
-                BodyStatus::Dynamic
+                RigidBodyType::Dynamic
             };
 
             let rigid_body = RigidBodyBuilder::new(status)
@@ -317,9 +317,9 @@ fn create_actuated_revolute_joints(
         // fixed bodies. Because physx will crash if we add
         // a joint between these.
         let status = if i == 0 {
-            BodyStatus::Static
+            RigidBodyType::Static
         } else {
-            BodyStatus::Dynamic
+            RigidBodyType::Dynamic
         };
 
         let shifty = (i >= 1) as u32 as f32 * -2.0;
@@ -378,9 +378,9 @@ fn create_actuated_ball_joints(
         // fixed bodies. Because physx will crash if we add
         // a joint between these.
         let status = if i == 0 {
-            BodyStatus::Static
+            RigidBodyType::Static
         } else {
-            BodyStatus::Dynamic
+            RigidBodyType::Dynamic
         };
 
         let rigid_body = RigidBodyBuilder::new(status)
diff --git a/examples3d/one_way_platforms3.rs b/examples3d/one_way_platforms3.rs
index d117a5b..f5a2f1b 100644
--- a/examples3d/one_way_platforms3.rs
+++ b/examples3d/one_way_platforms3.rs
@@ -9,36 +9,39 @@ struct OneWayPlatformHook {
     platform2: ColliderHandle,
 }
 
-impl PhysicsHooks for OneWayPlatformHook {
+impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
     fn active_hooks(&self) -> PhysicsHooksFlags {
         PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS
     }
 
-    fn modify_solver_contacts(&self, context: &mut ContactModificationContext) {
+    fn modify_solver_contacts(
+        &self,
+        context: &mut ContactModificationContext<RigidBodySet, ColliderSet>,
+    ) {
         // The allowed normal for the first platform is its local +y axis, and the
         // allowed normal for the second platform is its local -y axis.
         //
         // Now we have to be careful because the `manifold.local_n1` normal points
         // toward the outside of the shape of `context.co1`. So we need to flip the
-        // allowed normal direction if the platform is in `context.collider_handle2`.
+        // allowed normal direction if the platform is in `context.collider2`.
         //
         // Therefore:
-        // - If context.collider_handle1 == self.platform1 then the allowed normal is +y.
-        // - If context.collider_handle2 == self.platform1 then the allowed normal is -y.
-        // - If context.collider_handle1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
-        // - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
+        // - If context.collider1 == self.platform1 then the allowed normal is +y.
+        // - If context.collider2 == self.platform1 then the allowed normal is -y.
+        // - If context.collider1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
+        // - If context.collider2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
         let mut allowed_local_n1 = Vector3::zeros();
 
-        if context.collider_handle1 == self.platform1 {
+        if context.collider1 == self.platform1 {
             allowed_local_n1 = Vector3::y();
-        } else if context.collider_handle2 == self.platform1 {
+        } else if context.collider2 == self.platform1 {
             // Flip the allowed direction.
             allowed_local_n1 = -Vector3::y();
         }
 
-        if context.collider_handle1 == self.platform2 {
+        if context.collider1 == self.platform2 {
             allowed_local_n1 = -Vector3::y();
-        } else if context.collider_handle2 == self.platform2 {
+        } else if context.collider2 == self.platform2 {
             // Flip the allowed direction.
             allowed_local_n1 = Vector3::y();
         }
@@ -47,13 +50,12 @@ impl PhysicsHooks for OneWayPlatformHook {
         context.update_as_oneway_platform(&allowed_local_n1, 0.1);
 
         // Set the surface velocity of the accepted contacts.
-        let tangent_velocity = if context.collider_handle1 == self.platform1
-            || context.collider_handle2 == self.platform2
-        {
-            -12.0
-        } else {
-            12.0
-        };
+        let tangent_velocity =
+            if context.collider1 == self.platform1 || context.collider2 == self.platform2 {
+                -12.0
+            } else {
+                12.0
+            };
 
         for contact in context.solver_contacts.iter_mut() {
             contact.tangent_velocity.z = tangent_velocity;
@@ -115,13 +117,14 @@ pub fn init_world(testbed: &mut Testbed) {
             }
         }
 
-        physics.bodies.foreach_active_dynamic_body_mut(|_, body| {
+        for handle in physics.islands.active_dynamic_bodies() {
+            let body = physics.bodies.get_mut(*handle).unwrap();
             if body.position().translation.y > 1.0 {
                 body.set_gravity_scale(1.0, false);
             } else if body.position().translation.y < -1.0 {
                 body.set_gravity_scale(-1.0, false);
             }
-        });
+        }
     });
 
     /*
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index db15341..2711ba9 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert(collider, handle, &mut bodies);
 
     /*
-     * Create the cubes
+     * Create the primitives
      */
     let num = 8;
     let rad = 1.0;