Merge pull request #157 from dimforge/ccd

Implement Continuous Collision Detection

6 files changed, 229 insertions, 6 deletions

diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index b27b97c..1f84857 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -3,6 +3,7 @@ name    = "rapier-examples-3d"
 version = "0.1.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 edition = "2018"
+default-run = "all_examples3"
 
 [features]
 parallel = [ "rapier3d/parallel", "rapier_testbed3d/parallel" ]
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 724aa45..8122583 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -10,12 +10,14 @@ use inflector::Inflector;
 use rapier_testbed3d::Testbed;
 use std::cmp::Ordering;
 
+mod ccd3;
 mod collision_groups3;
 mod compound3;
 mod convex_decomposition3;
 mod convex_polyhedron3;
 mod damping3;
 mod debug_add_remove_collider3;
+mod debug_big_colliders3;
 mod debug_boxes3;
 mod debug_cylinder3;
 mod debug_dynamic_collider_add3;
@@ -76,6 +78,7 @@ pub fn main() {
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Fountain", fountain3::init_world),
         ("Primitives", primitives3::init_world),
+        ("CCD", ccd3::init_world),
         ("Collision groups", collision_groups3::init_world),
         ("Compound", compound3::init_world),
         ("Convex decomposition", convex_decomposition3::init_world),
@@ -95,6 +98,7 @@ pub fn main() {
             "(Debug) add/rm collider",
             debug_add_remove_collider3::init_world,
         ),
+        ("(Debug) big colliders", debug_big_colliders3::init_world),
         ("(Debug) boxes", debug_boxes3::init_world),
         (
             "(Debug) dyn. coll. add",
diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs
new file mode 100644
index 0000000..19381fd
--- /dev/null
+++ b/examples3d/ccd3.rs
@@ -0,0 +1,145 @@
+use na::{Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+fn create_wall(
+    testbed: &mut Testbed,
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    offset: Vector3<f32>,
+    stack_height: usize,
+    half_extents: Vector3<f32>,
+) {
+    let shift = half_extents * 2.0;
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = offset.x;
+            let y = fi * shift.y + offset.y;
+            let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
+                - stack_height as f32 * half_extents.z;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let handle = bodies.insert(rigid_body);
+            let collider =
+                ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
+            colliders.insert(collider, handle, bodies);
+            testbed.set_body_color(handle, Point3::new(218. / 255., 201. / 255., 1.0));
+        }
+    }
+}
+
+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 ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the pyramids.
+     */
+    let num_z = 8;
+    let num_x = 5;
+    let shift_y = ground_height + 0.5;
+    let shift_z = (num_z as f32 + 2.0) * 2.0;
+
+    for i in 0..num_x {
+        let x = i as f32 * 6.0;
+        create_wall(
+            testbed,
+            &mut bodies,
+            &mut colliders,
+            Vector3::new(x, shift_y, 0.0),
+            num_z,
+            Vector3::new(0.5, 0.5, 1.0),
+        );
+
+        create_wall(
+            testbed,
+            &mut bodies,
+            &mut colliders,
+            Vector3::new(x, shift_y, shift_z),
+            num_z,
+            Vector3::new(0.5, 0.5, 1.0),
+        );
+    }
+
+    /*
+     * Create two very fast rigid-bodies.
+     * The first one has CCD enabled and a sensor collider attached to it.
+     * The second one has CCD enabled and a collider attached to it.
+     */
+    let collider = ColliderBuilder::ball(1.0)
+        .density(10.0)
+        .sensor(true)
+        .build();
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .linvel(1000.0, 0.0, 0.0)
+        .translation(-20.0, shift_y + 2.0, 0.0)
+        .ccd_enabled(true)
+        .build();
+    let sensor_handle = bodies.insert(rigid_body);
+    colliders.insert(collider, sensor_handle, &mut bodies);
+
+    // Second rigid-body with CCD enabled.
+    let collider = ColliderBuilder::ball(1.0).density(10.0).build();
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .linvel(1000.0, 0.0, 0.0)
+        .translation(-20.0, shift_y + 2.0, shift_z)
+        .ccd_enabled(true)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    colliders.insert(collider.clone(), handle, &mut bodies);
+
+    // Callback that will be executed on the main loop to handle proximities.
+    testbed.add_callback(move |_, mut graphics, physics, events, _| {
+        while let Ok(prox) = events.intersection_events.try_recv() {
+            let color = if prox.intersecting {
+                Point3::new(1.0, 1.0, 0.0)
+            } else {
+                Point3::new(0.5, 0.5, 1.0)
+            };
+
+            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+
+            if let Some(graphics) = &mut graphics {
+                if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
+                    graphics.set_body_color(parent_handle1, color);
+                }
+                if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
+                    graphics.set_body_color(parent_handle2, color);
+                }
+            }
+        }
+    });
+
+    /*
+     * 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/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs
new file mode 100644
index 0000000..956f36a
--- /dev/null
+++ b/examples3d/debug_big_colliders3.rs
@@ -0,0 +1,50 @@
+use na::{Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, 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 rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis()));
+    let collider = ColliderBuilder::new(halfspace).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let mut curr_y = 0.0;
+    let mut curr_width = 10_000.0;
+
+    for _ in 0..12 {
+        let curr_height = 0.1f32.min(curr_width);
+        curr_y += curr_height * 4.0;
+
+        let rigid_body = RigidBodyBuilder::new_dynamic()
+            .translation(0.0, curr_y, 0.0)
+            .build();
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build();
+        colliders.insert(collider, handle, &mut bodies);
+
+        curr_width /= 5.0;
+    }
+
+    /*
+     * 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/debug_infinite_fall3.rs b/examples3d/debug_infinite_fall3.rs
index d1bda45..e70a386 100644
--- a/examples3d/debug_infinite_fall3.rs
+++ b/examples3d/debug_infinite_fall3.rs
@@ -1,3 +1,4 @@
+use na::Point3;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -10,10 +11,31 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut colliders = ColliderSet::new();
     let joints = JointSet::new();
 
+    /*
+     * Ground
+     */
+    let ground_size = 100.1;
+    let ground_height = 2.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, 4.0, 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);
+
     let rad = 1.0;
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0 * rad, 0.0)
+        .translation(0.0, 7.0 * rad, 0.0)
+        .can_sleep(false)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::ball(rad).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 2.0 * rad, 0.0)
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
@@ -23,6 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
+    testbed.look_at(Point3::new(100.0, -10.0, 100.0), Point3::origin());
     testbed.set_world(bodies, colliders, joints);
 }
 
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index caaa21b..6c80562 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Ground
      */
     let ground_size = 100.1;
-    let ground_height = 2.1;
+    let ground_height = 2.1; // 16.0;
 
     let rigid_body = RigidBodyBuilder::new_static()
         .translation(0.0, -ground_height, 0.0)
@@ -64,10 +64,6 @@ pub fn init_world(testbed: &mut Testbed) {
                 physics
                     .bodies
                     .remove(*handle, &mut physics.colliders, &mut physics.joints);
-                physics.broad_phase.maintain(&mut physics.colliders);
-                physics
-                    .narrow_phase
-                    .maintain(&mut physics.colliders, &mut physics.bodies);
 
                 if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
                     graphics.remove_body_nodes(window, *handle);
@@ -80,6 +76,10 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
+    // testbed
+    //     .physics_state_mut()
+    //     .integration_parameters
+    //     .velocity_based_erp = 0.2;
     testbed.look_at(Point3::new(-30.0, 4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
 }