From 3ad9c5ad3ba58b3cd4f19c07c6c89880908e0878 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 14 Apr 2024 15:56:47 +0200
Subject: feat: add a few more debug demos

---
 examples2d/all_examples2.rs        |  2 ++
 examples2d/debug_total_overlap2.rs | 28 ++++++++++++++++++++++++++++
 2 files changed, 30 insertions(+)
 create mode 100644 examples2d/debug_total_overlap2.rs

(limited to 'examples2d')

diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index 4cdbf98..6eff54f 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -15,6 +15,7 @@ mod collision_groups2;
 mod convex_polygons2;
 mod damping2;
 mod debug_box_ball2;
+mod debug_total_overlap2;
 mod drum2;
 mod heightfield2;
 mod joint_motor_position2;
@@ -82,6 +83,7 @@ pub fn main() {
         ("Trimesh", trimesh2::init_world),
         ("Joint motor position", joint_motor_position2::init_world),
         ("(Debug) box ball", debug_box_ball2::init_world),
+        ("(Debug) total overlap", debug_total_overlap2::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
diff --git a/examples2d/debug_total_overlap2.rs b/examples2d/debug_total_overlap2.rs
new file mode 100644
index 0000000..b61ad67
--- /dev/null
+++ b/examples2d/debug_total_overlap2.rs
@@ -0,0 +1,28 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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();
+
+    // Build many balls, all spawned at the same point.
+    let rad = 0.5;
+
+    for _ in 0..100 {
+        let rigid_body = RigidBodyBuilder::dynamic();
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(rad, rad);
+        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![0.0, 0.0], 50.0);
+}
-- 
cgit 


From da79d6fb5b28dd12e17ef4c8985fb589a37c9f9c Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 14 Apr 2024 22:51:04 +0200
Subject: feat: add "compression" debug-example

---
 examples2d/all_examples2.rs      |  2 ++
 examples2d/debug_compression2.rs | 75 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 77 insertions(+)
 create mode 100644 examples2d/debug_compression2.rs

(limited to 'examples2d')

diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index 6eff54f..97aa5d0 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -15,6 +15,7 @@ mod collision_groups2;
 mod convex_polygons2;
 mod damping2;
 mod debug_box_ball2;
+mod debug_compression2;
 mod debug_total_overlap2;
 mod drum2;
 mod heightfield2;
@@ -83,6 +84,7 @@ pub fn main() {
         ("Trimesh", trimesh2::init_world),
         ("Joint motor position", joint_motor_position2::init_world),
         ("(Debug) box ball", debug_box_ball2::init_world),
+        ("(Debug) compression", debug_compression2::init_world),
         ("(Debug) total overlap", debug_total_overlap2::init_world),
     ];
 
diff --git a/examples2d/debug_compression2.rs b/examples2d/debug_compression2.rs
new file mode 100644
index 0000000..e0052d6
--- /dev/null
+++ b/examples2d/debug_compression2.rs
@@ -0,0 +1,75 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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();
+
+    /*
+     * Ground
+     */
+    let width = 75.0;
+    let thickness = 2.0;
+    let ys = [-30.0 - thickness, 30.0 + thickness];
+
+    for y in ys {
+        let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, y]);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(width, thickness);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+    }
+
+    // Build two compression boxes rigid body.
+    let half_height = (ys[1] - ys[0]) / 2.0 - thickness;
+    let xs = [-width + thickness, width - thickness];
+    let mut handles = [RigidBodyHandle::invalid(); 2];
+
+    for i in 0..2 {
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![xs[i], 0.0]);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(thickness, half_height);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+        handles[i] = handle;
+    }
+
+    // Build the balls.
+    let num = 8;
+    let rad = half_height / (num as f32);
+    for i in 0..num {
+        for j in 0..num {
+            let x = i as f32 * rad * 2.0 - num as f32 * rad;
+            let y = j as f32 * rad * 2.0 - num as f32 * rad + rad;
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
+        }
+    }
+
+    let mut force = vector![0.0, 0.0];
+
+    testbed.add_callback(move |_, physics, _, _| {
+        let left_plank = &mut physics.bodies[handles[0]];
+        left_plank.reset_forces(true);
+        left_plank.add_force(force, true);
+
+        let right_plank = &mut physics.bodies[handles[1]];
+        right_plank.reset_forces(true);
+        right_plank.add_force(-force, true);
+
+        force.x += 10000.0;
+
+        println!("force: {}", force.x);
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 0.0], 50.0);
+}
-- 
cgit 


From f58b4f7c195ab7acf0778ea65c46ebf37ac8188c Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 21 Apr 2024 18:55:11 +0200
Subject: feat: add warmstarting to contact constraints resolution

---
 examples2d/all_examples2.rs          |  27 +++++++++
 examples2d/debug_vertical_column2.rs |  47 +++++++++++++++
 examples2d/s2d_arch.rs               | 107 +++++++++++++++++++++++++++++++++++
 examples2d/s2d_ball_and_chain.rs     |  74 ++++++++++++++++++++++++
 examples2d/s2d_bridge.rs             |  56 ++++++++++++++++++
 examples2d/s2d_card_house.rs         |  79 ++++++++++++++++++++++++++
 examples2d/s2d_confined.rs           |  65 +++++++++++++++++++++
 examples2d/s2d_far_pyramid.rs        |  51 +++++++++++++++++
 examples2d/s2d_high_mass_ratio_1.rs  |  66 +++++++++++++++++++++
 examples2d/s2d_high_mass_ratio_2.rs  |  53 +++++++++++++++++
 examples2d/s2d_high_mass_ratio_3.rs  |  49 ++++++++++++++++
 examples2d/s2d_joint_grid.rs         |  68 ++++++++++++++++++++++
 examples2d/s2d_pyramid.rs            |  49 ++++++++++++++++
 13 files changed, 791 insertions(+)
 create mode 100644 examples2d/debug_vertical_column2.rs
 create mode 100644 examples2d/s2d_arch.rs
 create mode 100644 examples2d/s2d_ball_and_chain.rs
 create mode 100644 examples2d/s2d_bridge.rs
 create mode 100644 examples2d/s2d_card_house.rs
 create mode 100644 examples2d/s2d_confined.rs
 create mode 100644 examples2d/s2d_far_pyramid.rs
 create mode 100644 examples2d/s2d_high_mass_ratio_1.rs
 create mode 100644 examples2d/s2d_high_mass_ratio_2.rs
 create mode 100644 examples2d/s2d_high_mass_ratio_3.rs
 create mode 100644 examples2d/s2d_joint_grid.rs
 create mode 100644 examples2d/s2d_pyramid.rs

(limited to 'examples2d')

diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index 97aa5d0..08fd996 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -17,6 +17,7 @@ mod damping2;
 mod debug_box_ball2;
 mod debug_compression2;
 mod debug_total_overlap2;
+mod debug_vertical_column2;
 mod drum2;
 mod heightfield2;
 mod joint_motor_position2;
@@ -28,6 +29,17 @@ mod polyline2;
 mod pyramid2;
 mod restitution2;
 mod rope_joints2;
+mod s2d_arch;
+mod s2d_ball_and_chain;
+mod s2d_bridge;
+mod s2d_card_house;
+mod s2d_confined;
+mod s2d_far_pyramid;
+mod s2d_high_mass_ratio_1;
+mod s2d_high_mass_ratio_2;
+mod s2d_high_mass_ratio_3;
+mod s2d_joint_grid;
+mod s2d_pyramid;
 mod sensor2;
 mod trimesh2;
 
@@ -86,6 +98,21 @@ pub fn main() {
         ("(Debug) box ball", debug_box_ball2::init_world),
         ("(Debug) compression", debug_compression2::init_world),
         ("(Debug) total overlap", debug_total_overlap2::init_world),
+        (
+            "(Debug) vertical column",
+            debug_vertical_column2::init_world,
+        ),
+        ("(s2d) high mass ratio 1", s2d_high_mass_ratio_1::init_world),
+        ("(s2d) high mass ratio 2", s2d_high_mass_ratio_2::init_world),
+        ("(s2d) high mass ratio 3", s2d_high_mass_ratio_3::init_world),
+        ("(s2d) confined", s2d_confined::init_world),
+        ("(s2d) pyramid", s2d_pyramid::init_world),
+        ("(s2d) card house", s2d_card_house::init_world),
+        ("(s2d) arch", s2d_arch::init_world),
+        ("(s2d) bridge", s2d_bridge::init_world),
+        ("(s2d) ball and chain", s2d_ball_and_chain::init_world),
+        ("(s2d) joint grid", s2d_joint_grid::init_world),
+        ("(s2d) far pyramid", s2d_far_pyramid::init_world),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
diff --git a/examples2d/debug_vertical_column2.rs b/examples2d/debug_vertical_column2.rs
new file mode 100644
index 0000000..4ca50db
--- /dev/null
+++ b/examples2d/debug_vertical_column2.rs
@@ -0,0 +1,47 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 num = 80;
+    let rad = 0.5;
+
+    /*
+     * Ground
+     */
+    let ground_size = 1.0;
+    let ground_thickness = 1.0;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).friction(0.3);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+
+    for i in 0..num {
+        let y = i as f32 * rad * 2.0 + ground_thickness + rad;
+
+        // Build the rigid body.
+        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, y]);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(rad, rad).friction(0.3);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    // testbed.harness_mut().physics.gravity.y = -981.0;
+    testbed.look_at(point![0.0, 2.5], 5.0);
+}
diff --git a/examples2d/s2d_arch.rs b/examples2d/s2d_arch.rs
new file mode 100644
index 0000000..ea92e66
--- /dev/null
+++ b/examples2d/s2d_arch.rs
@@ -0,0 +1,107 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 mut ps1 = [
+        Point::new(16.0, 0.0),
+        Point::new(14.93803712795643, 5.133601056842984),
+        Point::new(13.79871746027416, 10.24928069555078),
+        Point::new(12.56252963284711, 15.34107019122473),
+        Point::new(11.20040987372525, 20.39856541571217),
+        Point::new(9.66521217819836, 25.40369899225096),
+        Point::new(7.87179930638133, 30.3179337000085),
+        Point::new(5.635199558196225, 35.03820717801641),
+        Point::new(2.405937953536585, 39.09554102558315),
+    ];
+
+    let mut ps2 = [
+        Point::new(24.0, 0.0),
+        Point::new(22.33619528222415, 6.02299846205841),
+        Point::new(20.54936888969905, 12.00964361211476),
+        Point::new(18.60854610798073, 17.9470321677465),
+        Point::new(16.46769273811807, 23.81367936585418),
+        Point::new(14.05325025774858, 29.57079353071012),
+        Point::new(11.23551045834022, 35.13775818285372),
+        Point::new(7.752568160730571, 40.30450679009583),
+        Point::new(3.016931552701656, 44.28891593799322),
+    ];
+
+    let scale = 0.25;
+    let friction = 0.6;
+
+    for i in 0..9 {
+        ps1[i] *= scale;
+        ps2[i] *= scale;
+    }
+
+    /*
+     * Ground
+     */
+    let collider = ColliderBuilder::segment(point![-100.0, 0.0], point![100.0, 0.0]).friction(0.6);
+    colliders.insert(collider);
+
+    /*
+     * Create the arch
+     */
+    for i in 0..8 {
+        let ps = [ps1[i], ps2[i], ps2[i + 1], ps1[i + 1]];
+        let rigid_body = RigidBodyBuilder::dynamic();
+        let ground_handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::convex_hull(&ps)
+            .unwrap()
+            .friction(friction);
+        colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+    }
+
+    for i in 0..8 {
+        let ps = [
+            point![-ps2[i].x, ps2[i].y],
+            point![-ps1[i].x, ps1[i].y],
+            point![-ps1[i + 1].x, ps1[i + 1].y],
+            point![-ps2[i + 1].x, ps2[i + 1].y],
+        ];
+        let rigid_body = RigidBodyBuilder::dynamic();
+        let ground_handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::convex_hull(&ps)
+            .unwrap()
+            .friction(friction);
+        colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+    }
+
+    {
+        let ps = [
+            ps1[8],
+            ps2[8],
+            point![-ps1[8].x, ps1[8].y],
+            point![-ps2[8].x, ps2[8].y],
+        ];
+        let rigid_body = RigidBodyBuilder::dynamic();
+        let ground_handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::convex_hull(&ps)
+            .unwrap()
+            .friction(friction);
+        colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+    }
+
+    for i in 0..4 {
+        let rigid_body =
+            RigidBodyBuilder::dynamic().translation(vector![0.0, 0.5 + ps2[8].y + 1.0 * i as f32]);
+        let ground_handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(2.0, 0.5).friction(friction);
+        colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_ball_and_chain.rs b/examples2d/s2d_ball_and_chain.rs
new file mode 100644
index 0000000..cbc1a1f
--- /dev/null
+++ b/examples2d/s2d_ball_and_chain.rs
@@ -0,0 +1,74 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground = bodies.insert(RigidBodyBuilder::fixed());
+
+    /*
+     * Create the bridge.
+     */
+    let count = 40;
+    let hx = 0.5;
+    let density = 20.0;
+    let friction = 0.6;
+    let capsule = ColliderBuilder::capsule_x(hx, 0.125)
+        .friction(friction)
+        .density(20.0);
+
+    let mut prev = ground;
+    for i in 0..count {
+        let rigid_body = RigidBodyBuilder::dynamic()
+            .linear_damping(0.1)
+            .angular_damping(0.1)
+            .translation(vector![(1.0 + 2.0 * i as f32) * hx, count as f32 * hx]);
+        let handle = bodies.insert(rigid_body);
+        colliders.insert_with_parent(capsule.clone(), handle, &mut bodies);
+
+        let pivot = point![(2.0 * i as f32) * hx, count as f32 * hx];
+        let joint = RevoluteJointBuilder::new()
+            .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
+            .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
+            .contacts_enabled(false);
+        impulse_joints.insert(prev, handle, joint, true);
+        prev = handle;
+    }
+
+    let radius = 8.0;
+    let rigid_body = RigidBodyBuilder::dynamic()
+        .linear_damping(0.1)
+        .angular_damping(0.1)
+        .translation(vector![
+            (1.0 + 2.0 * count as f32) * hx + radius - hx,
+            count as f32 * hx
+        ]);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::ball(radius)
+        .friction(friction)
+        .density(20.0);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let pivot = point![(2.0 * count as f32) * hx, count as f32 * hx];
+    let joint = RevoluteJointBuilder::new()
+        .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
+        .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
+        .contacts_enabled(false);
+    impulse_joints.insert(prev, handle, joint, true);
+    prev = handle;
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_bridge.rs b/examples2d/s2d_bridge.rs
new file mode 100644
index 0000000..712997e
--- /dev/null
+++ b/examples2d/s2d_bridge.rs
@@ -0,0 +1,56 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground = bodies.insert(RigidBodyBuilder::fixed());
+
+    /*
+     * Create the bridge.
+     */
+    let density = 20.0;
+    let x_base = -80.0;
+    let count = 160;
+    let mut prev = ground;
+
+    for i in 0..count {
+        let rigid_body = RigidBodyBuilder::dynamic()
+            .linear_damping(0.1)
+            .angular_damping(0.1)
+            .translation(vector![x_base + 0.5 + 1.0 * i as f32, 20.0]);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(0.5, 0.125).density(20.0);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+
+        let pivot = point![x_base + 1.0 * i as f32, 20.0];
+        let joint = RevoluteJointBuilder::new()
+            .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
+            .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
+            .contacts_enabled(false);
+        impulse_joints.insert(prev, handle, joint, true);
+        prev = handle;
+    }
+
+    let pivot = point![x_base + 1.0 * count as f32, 20.0];
+    let joint = RevoluteJointBuilder::new()
+        .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
+        .local_anchor2(bodies[ground].position().inverse_transform_point(&pivot))
+        .contacts_enabled(false);
+    impulse_joints.insert(prev, ground, joint, true);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_card_house.rs b/examples2d/s2d_card_house.rs
new file mode 100644
index 0000000..0862062
--- /dev/null
+++ b/examples2d/s2d_card_house.rs
@@ -0,0 +1,79 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 extent = 1.0;
+    let friction = 0.7;
+
+    /*
+     * Ground
+     */
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let scale = 10.0;
+    let card_height = 0.2 * scale;
+    let card_thickness = 0.001 * scale;
+    let angle0 = 25.0 * std::f32::consts::PI / 180.0;
+    let angle1 = -25.0 * std::f32::consts::PI / 180.0;
+    let angle2 = 0.5 * std::f32::consts::PI;
+
+    let card_box = ColliderBuilder::cuboid(card_thickness, card_height).friction(friction);
+
+    let mut nb = 5;
+    let mut z0 = 0.0;
+    let mut y = card_height - 0.02 * scale;
+
+    while nb != 0 {
+        let mut z = z0;
+
+        for i in 0..nb {
+            if i != nb - 1 {
+                let rigid_body = RigidBodyBuilder::dynamic()
+                    .translation(vector![z + 0.25 * scale, y + card_height - 0.015 * scale])
+                    .rotation(angle2);
+                let ground_handle = bodies.insert(rigid_body);
+                colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
+            }
+
+            let rigid_body = RigidBodyBuilder::dynamic()
+                .translation(vector![z, y])
+                .rotation(angle1);
+            let ground_handle = bodies.insert(rigid_body);
+            colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
+
+            z += 0.175 * scale;
+
+            let rigid_body = RigidBodyBuilder::dynamic()
+                .translation(vector![z, y])
+                .rotation(angle0);
+            let ground_handle = bodies.insert(rigid_body);
+            colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
+
+            z += 0.175 * scale;
+        }
+
+        y += card_height * 2.0 - 0.03 * scale;
+        z0 += 0.175 * scale;
+        nb -= 1;
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_confined.rs b/examples2d/s2d_confined.rs
new file mode 100644
index 0000000..46cae86
--- /dev/null
+++ b/examples2d/s2d_confined.rs
@@ -0,0 +1,65 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 radius = 0.5;
+    let grid_count = 25;
+    let friction = 0.6;
+    let max_count = grid_count * grid_count;
+
+    /*
+     * Ground
+     */
+    let collider =
+        ColliderBuilder::capsule(point![-10.5, 0.0], point![10.5, 0.0], radius).friction(friction);
+    colliders.insert(collider);
+    let collider = ColliderBuilder::capsule(point![-10.5, 0.0], point![-10.5, 20.5], radius)
+        .friction(friction);
+    colliders.insert(collider);
+    let collider =
+        ColliderBuilder::capsule(point![10.5, 0.0], point![10.5, 20.5], radius).friction(friction);
+    colliders.insert(collider);
+    let collider = ColliderBuilder::capsule(point![-10.5, 20.5], point![10.5, 20.5], radius)
+        .friction(friction);
+    colliders.insert(collider);
+
+    /*
+     * Create the spheres
+     */
+    let mut row = 0;
+    let mut count = 0;
+    let mut column = 0;
+
+    while count < max_count {
+        row = 0;
+        for i in 0..grid_count {
+            let x = -8.75 + column as f32 * 18.0 / (grid_count as f32);
+            let y = 1.5 + row as f32 * 18.0 / (grid_count as f32);
+            let body = RigidBodyBuilder::dynamic()
+                .translation(vector![x, y])
+                .gravity_scale(0.0);
+            let body_handle = bodies.insert(body);
+            let ball = ColliderBuilder::ball(radius).friction(friction);
+            colliders.insert_with_parent(ball, body_handle, &mut bodies);
+
+            count += 1;
+            row += 1;
+        }
+
+        column += 1;
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_far_pyramid.rs b/examples2d/s2d_far_pyramid.rs
new file mode 100644
index 0000000..f5e34c0
--- /dev/null
+++ b/examples2d/s2d_far_pyramid.rs
@@ -0,0 +1,51 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 origin = vector![100_000.0, -80_000.0];
+    let extent = 1.0;
+    let friction = 0.6;
+
+    /*
+     * Ground
+     */
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -1.0] + origin);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(100.0, 1.0).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let base_count = 10;
+
+    let h = 0.5;
+    let shift = 1.25 * h;
+
+    for i in 0..base_count {
+        let y = (2.0 * i as f32 + 1.0) * shift + 0.5;
+
+        for j in i..base_count {
+            let x = (i as f32 + 1.0) * shift + 2.0 * (j as f32 - i as f32) * shift
+                - h * base_count as f32;
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y] + origin);
+            let ground_handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(h, h).friction(friction);
+            colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5] + origin, 20.0);
+}
diff --git a/examples2d/s2d_high_mass_ratio_1.rs b/examples2d/s2d_high_mass_ratio_1.rs
new file mode 100644
index 0000000..b211a5e
--- /dev/null
+++ b/examples2d/s2d_high_mass_ratio_1.rs
@@ -0,0 +1,66 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 extent = 1.0;
+    let friction = 0.5;
+
+    /*
+     * Ground
+     */
+    let ground_width = 66.0 * extent;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::segment(
+        point![-0.5 * 2.0 * ground_width, 0.0],
+        point![0.5 * 2.0 * ground_width, 0.0],
+    )
+    .friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+
+    for j in 0..3 {
+        let mut count = 10;
+        let offset = -20.0 * extent + 2.0 * (count as f32 + 1.0) * extent * j as f32;
+        let mut y = extent;
+
+        while count > 0 {
+            for i in 0..count {
+                let coeff = i as f32 - 0.5 * count as f32;
+                let yy = if count == 1 { y + 2.0 } else { y };
+                let position = vector![2.0 * coeff * extent + offset, yy];
+                let rigid_body = RigidBodyBuilder::dynamic().translation(position);
+                let parent = bodies.insert(rigid_body);
+
+                let collider = ColliderBuilder::cuboid(extent, extent)
+                    .density(if count == 1 {
+                        (j as f32 + 1.0) * 100.0
+                    } else {
+                        1.0
+                    })
+                    .friction(friction);
+                colliders.insert_with_parent(collider, parent, &mut bodies);
+            }
+
+            count -= 1;
+            y += 2.0 * extent;
+        }
+    }
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_high_mass_ratio_2.rs b/examples2d/s2d_high_mass_ratio_2.rs
new file mode 100644
index 0000000..518df95
--- /dev/null
+++ b/examples2d/s2d_high_mass_ratio_2.rs
@@ -0,0 +1,53 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 extent = 1.0;
+    let friction = 0.6;
+
+    /*
+     * Ground
+     */
+    let ground_width = 66.0 * extent;
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::segment(
+        point![-0.5 * 2.0 * ground_width, 0.0],
+        point![0.5 * 2.0 * ground_width, 0.0],
+    )
+    .friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![-9.0 * extent, 0.5 * extent]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![9.0 * extent, 0.5 * extent]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, (10.0 + 16.0) * extent]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(10.0 * extent, 10.0 * extent).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_high_mass_ratio_3.rs b/examples2d/s2d_high_mass_ratio_3.rs
new file mode 100644
index 0000000..f8dd3ee
--- /dev/null
+++ b/examples2d/s2d_high_mass_ratio_3.rs
@@ -0,0 +1,49 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 extent = 1.0;
+    let friction = 0.6;
+
+    /*
+     * Ground
+     */
+    let ground_width = 66.0 * extent;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![-9.0 * extent, 0.5 * extent]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![9.0 * extent, 0.5 * extent]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, (10.0 + 16.0) * extent]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(10.0 * extent, 10.0 * extent).friction(friction);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_joint_grid.rs b/examples2d/s2d_joint_grid.rs
new file mode 100644
index 0000000..97cea07
--- /dev/null
+++ b/examples2d/s2d_joint_grid.rs
@@ -0,0 +1,68 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground = bodies.insert(RigidBodyBuilder::fixed());
+
+    /*
+     * Create the bridge.
+     */
+    let rad = 0.4;
+    let numi = 100;
+    let numk = 100;
+    let shift = 1.0;
+    let mut index = 0;
+    let mut handles = vec![RigidBodyHandle::invalid(); numi * numk];
+
+    for k in 0..numk {
+        for i in 0..numi {
+            let body_type = if k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 {
+                RigidBodyType::Fixed
+            } else {
+                RigidBodyType::Dynamic
+            };
+
+            let rigid_body = RigidBodyBuilder::new(body_type)
+                .translation(vector![k as f32 * shift, -(i as f32) * shift]);
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad);
+            colliders.insert_with_parent(collider, handle, &mut bodies);
+
+            if i > 0 {
+                let joint = RevoluteJointBuilder::new()
+                    .local_anchor1(point![0.0, -0.5 * shift])
+                    .local_anchor2(point![0.0, 0.5 * shift])
+                    .contacts_enabled(false);
+                impulse_joints.insert(handles[index - 1], handle, joint, true);
+            }
+
+            if k > 0 {
+                let joint = RevoluteJointBuilder::new()
+                    .local_anchor1(point![0.5 * shift, 0.0])
+                    .local_anchor2(point![-0.5 * shift, 0.0])
+                    .contacts_enabled(false);
+                impulse_joints.insert(handles[index - numi], handle, joint, true);
+            }
+
+            handles[index] = handle;
+            index += 1;
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
diff --git a/examples2d/s2d_pyramid.rs b/examples2d/s2d_pyramid.rs
new file mode 100644
index 0000000..45e6310
--- /dev/null
+++ b/examples2d/s2d_pyramid.rs
@@ -0,0 +1,49 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 extent = 1.0;
+
+    /*
+     * Ground
+     */
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -1.0]);
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(100.0, 1.0).friction(0.6);
+    colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let base_count = 100;
+
+    let h = 0.5;
+    let shift = 1.0 * h;
+
+    for i in 0..base_count {
+        let y = (2.0 * i as f32 + 1.0) * shift;
+
+        for j in i..base_count {
+            let x = (i as f32 + 1.0) * shift + 2.0 * (j as f32 - i as f32) * shift
+                - h * base_count as f32;
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
+            let ground_handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(h, h).friction(0.6);
+            colliders.insert_with_parent(collider, ground_handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 2.5], 20.0);
+}
-- 
cgit 


From 33dd38016ccf3c4ad8e874d75e51fbc20dd060da Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 21 Apr 2024 19:40:39 +0200
Subject: feat: add a capsule collider constructor from endpoints.

---
 examples2d/s2d_confined.rs | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

(limited to 'examples2d')

diff --git a/examples2d/s2d_confined.rs b/examples2d/s2d_confined.rs
index 46cae86..8b75a3d 100644
--- a/examples2d/s2d_confined.rs
+++ b/examples2d/s2d_confined.rs
@@ -19,16 +19,20 @@ pub fn init_world(testbed: &mut Testbed) {
      * Ground
      */
     let collider =
-        ColliderBuilder::capsule(point![-10.5, 0.0], point![10.5, 0.0], radius).friction(friction);
+        ColliderBuilder::capsule_from_endpoints(point![-10.5, 0.0], point![10.5, 0.0], radius)
+            .friction(friction);
     colliders.insert(collider);
-    let collider = ColliderBuilder::capsule(point![-10.5, 0.0], point![-10.5, 20.5], radius)
-        .friction(friction);
+    let collider =
+        ColliderBuilder::capsule_from_endpoints(point![-10.5, 0.0], point![-10.5, 20.5], radius)
+            .friction(friction);
     colliders.insert(collider);
     let collider =
-        ColliderBuilder::capsule(point![10.5, 0.0], point![10.5, 20.5], radius).friction(friction);
+        ColliderBuilder::capsule_from_endpoints(point![10.5, 0.0], point![10.5, 20.5], radius)
+            .friction(friction);
     colliders.insert(collider);
-    let collider = ColliderBuilder::capsule(point![-10.5, 20.5], point![10.5, 20.5], radius)
-        .friction(friction);
+    let collider =
+        ColliderBuilder::capsule_from_endpoints(point![-10.5, 20.5], point![10.5, 20.5], radius)
+            .friction(friction);
     colliders.insert(collider);
 
     /*
-- 
cgit 


From 97f7c1b4b22c5ea29f5a34b5d02563dca4b0da35 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 28 Apr 2024 15:51:50 +0200
Subject: fix: add a collision skin to the 2D trimesh demo

---
 examples2d/trimesh2.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'examples2d')

diff --git a/examples2d/trimesh2.rs b/examples2d/trimesh2.rs
index 2cb8410..1bbe521 100644
--- a/examples2d/trimesh2.rs
+++ b/examples2d/trimesh2.rs
@@ -84,7 +84,8 @@ pub fn init_world(testbed: &mut Testbed) {
                     .collect();
 
                 for k in 0..5 {
-                    let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone());
+                    let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone())
+                        .collision_skin(0.2);
                     let rigid_body = RigidBodyBuilder::dynamic()
                         .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
                         .rotation(angle);
-- 
cgit 


From 929aa6b9259b95d48cf6a84df40486132b21f088 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 28 Apr 2024 15:53:49 +0200
Subject: feat: rename collision_skin to contact_skin

---
 examples2d/trimesh2.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'examples2d')

diff --git a/examples2d/trimesh2.rs b/examples2d/trimesh2.rs
index 1bbe521..6a51d18 100644
--- a/examples2d/trimesh2.rs
+++ b/examples2d/trimesh2.rs
@@ -85,7 +85,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
                 for k in 0..5 {
                     let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone())
-                        .collision_skin(0.2);
+                        .contact_skin(0.2);
                     let rigid_body = RigidBodyBuilder::dynamic()
                         .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
                         .rotation(angle);
-- 
cgit 


From 0a9153e273dc0bdd4ba6443bd7f4dcfc671faac3 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 28 Apr 2024 18:23:30 +0200
Subject: chore: clippy fixes

---
 examples2d/s2d_arch.rs              | 2 ++
 examples2d/s2d_ball_and_chain.rs    | 5 ++---
 examples2d/s2d_bridge.rs            | 2 +-
 examples2d/s2d_card_house.rs        | 1 -
 examples2d/s2d_confined.rs          | 4 ++--
 examples2d/s2d_far_pyramid.rs       | 1 -
 examples2d/s2d_high_mass_ratio_3.rs | 2 --
 examples2d/s2d_joint_grid.rs        | 7 +------
 examples2d/s2d_pyramid.rs           | 2 --
 9 files changed, 8 insertions(+), 18 deletions(-)

(limited to 'examples2d')

diff --git a/examples2d/s2d_arch.rs b/examples2d/s2d_arch.rs
index ea92e66..5b935e9 100644
--- a/examples2d/s2d_arch.rs
+++ b/examples2d/s2d_arch.rs
@@ -10,6 +10,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let impulse_joints = ImpulseJointSet::new();
     let multibody_joints = MultibodyJointSet::new();
 
+    #[allow(clippy::excessive_precision)]
     let mut ps1 = [
         Point::new(16.0, 0.0),
         Point::new(14.93803712795643, 5.133601056842984),
@@ -22,6 +23,7 @@ pub fn init_world(testbed: &mut Testbed) {
         Point::new(2.405937953536585, 39.09554102558315),
     ];
 
+    #[allow(clippy::excessive_precision)]
     let mut ps2 = [
         Point::new(24.0, 0.0),
         Point::new(22.33619528222415, 6.02299846205841),
diff --git a/examples2d/s2d_ball_and_chain.rs b/examples2d/s2d_ball_and_chain.rs
index cbc1a1f..29e0d87 100644
--- a/examples2d/s2d_ball_and_chain.rs
+++ b/examples2d/s2d_ball_and_chain.rs
@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let friction = 0.6;
     let capsule = ColliderBuilder::capsule_x(hx, 0.125)
         .friction(friction)
-        .density(20.0);
+        .density(density);
 
     let mut prev = ground;
     for i in 0..count {
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::ball(radius)
         .friction(friction)
-        .density(20.0);
+        .density(density);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     let pivot = point![(2.0 * count as f32) * hx, count as f32 * hx];
@@ -64,7 +64,6 @@ pub fn init_world(testbed: &mut Testbed) {
         .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
         .contacts_enabled(false);
     impulse_joints.insert(prev, handle, joint, true);
-    prev = handle;
 
     /*
      * Set up the testbed.
diff --git a/examples2d/s2d_bridge.rs b/examples2d/s2d_bridge.rs
index 712997e..ab9c96f 100644
--- a/examples2d/s2d_bridge.rs
+++ b/examples2d/s2d_bridge.rs
@@ -29,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
             .angular_damping(0.1)
             .translation(vector![x_base + 0.5 + 1.0 * i as f32, 20.0]);
         let handle = bodies.insert(rigid_body);
-        let collider = ColliderBuilder::cuboid(0.5, 0.125).density(20.0);
+        let collider = ColliderBuilder::cuboid(0.5, 0.125).density(density);
         colliders.insert_with_parent(collider, handle, &mut bodies);
 
         let pivot = point![x_base + 1.0 * i as f32, 20.0];
diff --git a/examples2d/s2d_card_house.rs b/examples2d/s2d_card_house.rs
index 0862062..5e2c5dc 100644
--- a/examples2d/s2d_card_house.rs
+++ b/examples2d/s2d_card_house.rs
@@ -10,7 +10,6 @@ pub fn init_world(testbed: &mut Testbed) {
     let impulse_joints = ImpulseJointSet::new();
     let multibody_joints = MultibodyJointSet::new();
 
-    let extent = 1.0;
     let friction = 0.7;
 
     /*
diff --git a/examples2d/s2d_confined.rs b/examples2d/s2d_confined.rs
index 8b75a3d..ee54408 100644
--- a/examples2d/s2d_confined.rs
+++ b/examples2d/s2d_confined.rs
@@ -38,13 +38,13 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Create the spheres
      */
-    let mut row = 0;
+    let mut row;
     let mut count = 0;
     let mut column = 0;
 
     while count < max_count {
         row = 0;
-        for i in 0..grid_count {
+        for _ in 0..grid_count {
             let x = -8.75 + column as f32 * 18.0 / (grid_count as f32);
             let y = 1.5 + row as f32 * 18.0 / (grid_count as f32);
             let body = RigidBodyBuilder::dynamic()
diff --git a/examples2d/s2d_far_pyramid.rs b/examples2d/s2d_far_pyramid.rs
index f5e34c0..7948731 100644
--- a/examples2d/s2d_far_pyramid.rs
+++ b/examples2d/s2d_far_pyramid.rs
@@ -11,7 +11,6 @@ pub fn init_world(testbed: &mut Testbed) {
     let multibody_joints = MultibodyJointSet::new();
 
     let origin = vector![100_000.0, -80_000.0];
-    let extent = 1.0;
     let friction = 0.6;
 
     /*
diff --git a/examples2d/s2d_high_mass_ratio_3.rs b/examples2d/s2d_high_mass_ratio_3.rs
index f8dd3ee..b1f6340 100644
--- a/examples2d/s2d_high_mass_ratio_3.rs
+++ b/examples2d/s2d_high_mass_ratio_3.rs
@@ -16,8 +16,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_width = 66.0 * extent;
-
     let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]);
     let ground_handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction);
diff --git a/examples2d/s2d_joint_grid.rs b/examples2d/s2d_joint_grid.rs
index 97cea07..0033c70 100644
--- a/examples2d/s2d_joint_grid.rs
+++ b/examples2d/s2d_joint_grid.rs
@@ -11,12 +11,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let multibody_joints = MultibodyJointSet::new();
 
     /*
-     * Ground
-     */
-    let ground = bodies.insert(RigidBodyBuilder::fixed());
-
-    /*
-     * Create the bridge.
+     * Create the joint grid.
      */
     let rad = 0.4;
     let numi = 100;
diff --git a/examples2d/s2d_pyramid.rs b/examples2d/s2d_pyramid.rs
index 45e6310..c35fe63 100644
--- a/examples2d/s2d_pyramid.rs
+++ b/examples2d/s2d_pyramid.rs
@@ -10,8 +10,6 @@ pub fn init_world(testbed: &mut Testbed) {
     let impulse_joints = ImpulseJointSet::new();
     let multibody_joints = MultibodyJointSet::new();
 
-    let extent = 1.0;
-
     /*
      * Ground
      */
-- 
cgit 


From 7375a691e232bb59033980dc09c7179bc16e377f Mon Sep 17 00:00:00 2001
From: Bruce Mitchener <bruce.mitchener@gmail.com>
Date: Sun, 5 May 2024 16:41:38 +0630
Subject: Fix some typos. (#620)

---
 examples2d/trimesh2.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'examples2d')

diff --git a/examples2d/trimesh2.rs b/examples2d/trimesh2.rs
index 6a51d18..a295db5 100644
--- a/examples2d/trimesh2.rs
+++ b/examples2d/trimesh2.rs
@@ -41,7 +41,7 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
-     * Create the trimeshes from a tesselated SVG.
+     * Create the trimeshes from a tessellated SVG.
      */
     let mut fill_tess = FillTessellator::new();
     let opt = usvg::Options::default();
@@ -67,7 +67,7 @@ pub fn init_world(testbed: &mut Testbed) {
                         &FillOptions::tolerance(0.01),
                         &mut BuffersBuilder::new(&mut mesh, VertexCtor { prim_id: 0 }),
                     )
-                    .expect("Tesselation failed.");
+                    .expect("Tessellation failed.");
 
                 let angle = transform.get_rotate() as f32;
 
-- 
cgit 


From fcd4e71b43326ee557f184d8becbbf51db8c6b1c Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sat, 4 May 2024 17:51:35 +0200
Subject: feat: add a vertical wall to the 2D and 3D character controller
 examples

---
 examples2d/character_controller2.rs | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

(limited to 'examples2d')

diff --git a/examples2d/character_controller2.rs b/examples2d/character_controller2.rs
index 8ecd23c..2325101 100644
--- a/examples2d/character_controller2.rs
+++ b/examples2d/character_controller2.rs
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(vector![-3.0, 5.0]);
     let character_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(0.15, 0.3);
+    let collider = ColliderBuilder::capsule_y(0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
 
     /*
@@ -94,14 +94,18 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let wall_angle = PI / 2.;
     let wall_size = 2.0;
+    let wall_pos = vector![
+        ground_size + slope_size * 2.0 + impossible_slope_size + 0.35,
+        -ground_height + 2.5 * 2.3
+    ];
     let collider = ColliderBuilder::cuboid(wall_size, ground_height)
-        .translation(vector![
-            ground_size + slope_size * 2.0 + impossible_slope_size + 0.35,
-            -ground_height + 2.5 * 2.3
-        ])
+        .translation(wall_pos)
         .rotation(wall_angle);
     colliders.insert(collider);
 
+    let collider = ColliderBuilder::cuboid(wall_size, ground_height).translation(wall_pos);
+    colliders.insert(collider);
+
     /*
      * Create a moving platform.
      */
-- 
cgit 


From 62379de9ecc81fb42b7c2a0d2b8e3e1b02d63f38 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sat, 25 May 2024 10:36:34 +0200
Subject: feat: add simple inverse-kinematics solver for multibodies (#632)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies

* feat: add 2d inverse kinematics example

* feat: make forward_kinematics auto-fix the root’s degrees of freedom

* feat: add 3d inverse kinematics example

* chore: update changelog

* chore: clippy fixes

* chore: more clippy fixes

* fix tests
---
 examples2d/all_examples2.rs       |  2 +
 examples2d/inverse_kinematics2.rs | 96 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 98 insertions(+)
 create mode 100644 examples2d/inverse_kinematics2.rs

(limited to 'examples2d')

diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index 08fd996..39d85f6 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -20,6 +20,7 @@ mod debug_total_overlap2;
 mod debug_vertical_column2;
 mod drum2;
 mod heightfield2;
+mod inverse_kinematics2;
 mod joint_motor_position2;
 mod joints2;
 mod locked_rotations2;
@@ -84,6 +85,7 @@ pub fn main() {
         ("Damping", damping2::init_world),
         ("Drum", drum2::init_world),
         ("Heightfield", heightfield2::init_world),
+        ("Inverse kinematics", inverse_kinematics2::init_world),
         ("Joints", joints2::init_world),
         ("Locked rotations", locked_rotations2::init_world),
         ("One-way platforms", one_way_platforms2::init_world),
diff --git a/examples2d/inverse_kinematics2.rs b/examples2d/inverse_kinematics2.rs
new file mode 100644
index 0000000..985bdb2
--- /dev/null
+++ b/examples2d/inverse_kinematics2.rs
@@ -0,0 +1,96 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 mut multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 1.0;
+    let ground_height = 0.01;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
+
+    /*
+     * Setup groups
+     */
+    let num_segments = 10;
+    let body = RigidBodyBuilder::fixed();
+    let mut last_body = bodies.insert(body);
+    let mut last_link = MultibodyJointHandle::invalid();
+
+    for i in 0..num_segments {
+        let size = 1.0 / num_segments as f32;
+        let body = RigidBodyBuilder::dynamic().can_sleep(false);
+        let new_body = bodies.insert(body);
+        // NOTE: we add a sensor collider just to make the destbed draw a rectangle to make
+        //       the demo look nicer. IK could be used without cuboid.
+        let collider = ColliderBuilder::cuboid(size / 8.0, size / 2.0)
+            .density(0.0)
+            .sensor(true);
+        colliders.insert_with_parent(collider, new_body, &mut bodies);
+
+        let link_ab = RevoluteJointBuilder::new()
+            .local_anchor1(point![0.0, size / 2.0 * (i != 0) as usize as f32])
+            .local_anchor2(point![0.0, -size / 2.0])
+            .build()
+            .data;
+
+        last_link = multibody_joints
+            .insert(last_body, new_body, link_ab, true)
+            .unwrap();
+
+        last_body = new_body;
+    }
+
+    let mut displacements = DVector::zeros(0);
+
+    testbed.add_callback(move |graphics, physics, _, _| {
+        let Some(graphics) = graphics else { return };
+        if let Some((multibody, link_id)) = physics.multibody_joints.get_mut(last_link) {
+            // Ensure our displacement vector has the right number of elements.
+            if displacements.nrows() < multibody.ndofs() {
+                displacements = DVector::zeros(multibody.ndofs());
+            } else {
+                displacements.fill(0.0);
+            }
+
+            let Some(mouse_point) = graphics.mouse().point else {
+                return;
+            };
+
+            // We will have the endpoint track the mouse position.
+            let target_point = mouse_point.coords;
+
+            let options = InverseKinematicsOption {
+                constrained_axes: JointAxesMask::LIN_AXES,
+                ..Default::default()
+            };
+
+            multibody.inverse_kinematics(
+                &physics.bodies,
+                link_id,
+                &options,
+                &Isometry::from(target_point),
+                &mut displacements,
+            );
+            multibody.apply_displacements(displacements.as_slice());
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 0.0], 300.0);
+}
-- 
cgit