diff options
| -rw-r--r-- | examples3d/heightfield3.rs | 8 | ||||
| -rw-r--r-- | examples3d/trimesh3.rs | 7 | ||||
| -rw-r--r-- | src/geometry/waabb.rs | 11 |
3 files changed, 21 insertions, 5 deletions
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index 6af93c7..59380d5 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -1,4 +1,4 @@ -use na::{DMatrix, Point3, Vector3}; +use na::{ComplexField, DMatrix, Point3, Vector3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; use rapier3d::geometry::{ColliderBuilder, ColliderSet}; use rapier_testbed3d::Testbed; @@ -23,7 +23,11 @@ pub fn init_world(testbed: &mut Testbed) { } else { let x = i as f32 * ground_size.x / (nsubdivs as f32); let z = j as f32 * ground_size.z / (nsubdivs as f32); - x.sin() + z.cos() + + // 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)) } }); diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index 2a96bda..0cee465 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -1,4 +1,4 @@ -use na::Point3; +use na::{ComplexField, Point3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; use rapier3d::geometry::{ColliderBuilder, ColliderSet}; use rapier_testbed3d::Testbed; @@ -30,7 +30,10 @@ pub fn init_world(testbed: &mut Testbed) { // so we switch z and y here and set a random altitude at each point. for p in vertices.iter_mut() { p.z = p.y; - p.y = (p.x.sin() + p.z.cos()) * ground_height; + // 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. + p.y = (<f32 as ComplexField>::sin(p.x) + <f32 as ComplexField>::cos(p.z)) * ground_height; if p.x.abs() == ground_size / 2.0 || p.z.abs() == ground_size / 2.0 { p.y = 10.0; diff --git a/src/geometry/waabb.rs b/src/geometry/waabb.rs index 645ac04..1ebf528 100644 --- a/src/geometry/waabb.rs +++ b/src/geometry/waabb.rs @@ -105,7 +105,16 @@ impl WAABB { } pub fn dilate_by_factor(&mut self, factor: SimdFloat) { - let dilation = (self.maxs - self.mins) * factor; + // If some of the AABBs on this WAABB are invalid, + // don't, dilate them. + let is_valid = self.mins.x.simd_le(self.maxs.x); + let factor = factor.select(is_valid, SimdFloat::zero()); + + // NOTE: we multiply each by factor instead of doing + // (maxs - mins) * factor. That's to avoid overflows (and + // therefore NaNs if this WAABB contains some invalid + // AABBs initialised with f32::MAX + let dilation = self.maxs * factor - self.mins * factor; self.mins -= dilation; self.maxs += dilation; } |