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-rw-r--r--crates/rapier2d-f64/Cargo.toml2
-rw-r--r--crates/rapier2d/Cargo.toml2
-rw-r--r--crates/rapier3d-f64/Cargo.toml2
-rw-r--r--crates/rapier3d/Cargo.toml2
-rw-r--r--examples3d/all_examples3.rs2
-rw-r--r--examples3d/debug_internal_edges3.rs60
-rw-r--r--examples3d/trimesh3.rs6
-rw-r--r--src/geometry/collider.rs12
8 files changed, 82 insertions, 6 deletions
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index 4e8c611..989ff14 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -49,7 +49,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
-parry2d-f64 = "0.11"
+parry2d-f64 = "^0.11.1"
simba = "0.7"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index df6f0f6..0981216 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -49,7 +49,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
-parry2d = "0.11"
+parry2d = "^0.11.1"
simba = "0.7"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index 93216c7..590fdf0 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -49,7 +49,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
-parry3d-f64 = "0.11"
+parry3d-f64 = "^0.11.1"
simba = "0.7"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index 43d0d90..8acd591 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -49,7 +49,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
-parry3d = "0.11"
+parry3d = "^0.11.1"
simba = "0.7"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index f599fdb..749cec0 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -34,6 +34,7 @@ mod heightfield3;
mod joints3;
// mod joints3;
mod character_controller3;
+mod debug_internal_edges3;
mod keva3;
mod locked_rotations3;
mod newton_cradle3;
@@ -114,6 +115,7 @@ pub fn main() {
debug_dynamic_collider_add3::init_world,
),
("(Debug) friction", debug_friction3::init_world),
+ ("(Debug) internal edges", debug_internal_edges3::init_world),
("(Debug) triangle", debug_triangle3::init_world),
("(Debug) trimesh", debug_trimesh3::init_world),
("(Debug) cylinder", debug_cylinder3::init_world),
diff --git a/examples3d/debug_internal_edges3.rs b/examples3d/debug_internal_edges3.rs
new file mode 100644
index 0000000..7112fb0
--- /dev/null
+++ b/examples3d/debug_internal_edges3.rs
@@ -0,0 +1,60 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+ /*
+ * World
+ */
+ let mut bodies = RigidBodySet::new();
+ let mut colliders = ColliderSet::new();
+ let impulse_joints = ImpulseJointSet::new();
+ let multibody_joints = MultibodyJointSet::new();
+
+ let heights = DMatrix::zeros(100, 100);
+ let heightfield = HeightField::new(heights, vector![60.0, 1.0, 60.0]);
+ let rotation = vector![0.0, 0.0, 0.0]; // vector![-0.1, 0.0, 0.0];
+ colliders
+ .insert(ColliderBuilder::new(SharedShape::new(heightfield.clone())).rotation(rotation));
+
+ // let mut trimesh = TriMesh::from(heightfield);
+ // trimesh.set_flags(TriMeshFlags::MERGE_DUPLICATE_VERTICES)
+ // colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())).rotation(rotation));
+ // // NOTE: we add a sensor just because we want the testbed to display the mesh’s wireframe.
+ // colliders.insert(
+ // ColliderBuilder::new(SharedShape::new(trimesh))
+ // .sensor(true)
+ // .rotation(rotation),
+ // );
+
+ // Dynamic rigid bodies.
+ let rigid_body = RigidBodyBuilder::dynamic()
+ .translation(vector![4.0, 0.5, 0.0])
+ .linvel(vector![0.0, -40.0, 20.0])
+ .can_sleep(false);
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::ball(0.5);
+ colliders.insert_with_parent(collider, handle, &mut bodies);
+
+ let rigid_body = RigidBodyBuilder::dynamic()
+ .translation(vector![0.0, 0.5, 0.0])
+ .linvel(vector![0.0, -4.0, 20.0])
+ .can_sleep(false);
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cuboid(0.5, 0.5, 0.5);
+ colliders.insert_with_parent(collider, handle, &mut bodies);
+
+ let rigid_body = RigidBodyBuilder::dynamic()
+ .translation(vector![8.0, 0.2, 0.0])
+ .linvel(vector![0.0, -4.0, 20.0])
+ .can_sleep(false);
+ let handle = bodies.insert(rigid_body);
+ let collider =
+ ColliderBuilder::cylinder(0.5, 0.2).rotation(vector![0.0, 0.0, std::f32::consts::PI / 2.0]);
+ colliders.insert_with_parent(collider, handle, &mut bodies);
+
+ /*
+ * Set up the testbed.
+ */
+ testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+ testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
+}
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
index 729fc3e..edbb539 100644
--- a/examples3d/trimesh3.rs
+++ b/examples3d/trimesh3.rs
@@ -38,7 +38,11 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::trimesh(vertices, indices);
+ let collider = ColliderBuilder::trimesh_with_flags(
+ vertices,
+ indices,
+ TriMeshFlags::MERGE_DUPLICATE_VERTICES,
+ );
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 723b3e1..95ae273 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -9,7 +9,7 @@ use crate::parry::transformation::vhacd::VHACDParameters;
use crate::pipeline::{ActiveEvents, ActiveHooks};
use na::Unit;
use parry::bounding_volume::Aabb;
-use parry::shape::Shape;
+use parry::shape::{Shape, TriMeshFlags};
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
@@ -550,6 +550,16 @@ impl ColliderBuilder {
Self::new(SharedShape::trimesh(vertices, indices))
}
+ /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers and
+ /// flags controlling its pre-processing.
+ pub fn trimesh_with_flags(
+ vertices: Vec<Point<Real>>,
+ indices: Vec<[u32; 3]>,
+ flags: TriMeshFlags,
+ ) -> Self {
+ Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags))
+ }
+
/// Initializes a collider builder with a compound shape obtained from the decomposition of
/// the given trimesh (in 3D) or polyline (in 2D) into convex parts.
pub fn convex_decomposition(vertices: &[Point<Real>], indices: &[[u32; DIM]]) -> Self {
generated by cgit (git 2.34.1) at 2026-02-05 13:32:09 +0000