From 947c4813c9666fd8215743de298fe17780fa3ef2 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 19 Oct 2020 16:51:40 +0200
Subject: Complete the pfm/pfm contact generator.

---
 examples3d/debug_cylinder3.rs | 65 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 65 insertions(+)
 create mode 100644 examples3d/debug_cylinder3.rs

(limited to 'examples3d/debug_cylinder3.rs')

diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
new file mode 100644
index 0000000..4e7fae1
--- /dev/null
+++ b/examples3d/debug_cylinder3.rs
@@ -0,0 +1,65 @@
+use na::{Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+// This shows a bug when a cylinder is in contact with a very large
+// but very thin cuboid. In this case the EPA returns an incorrect
+// contact normal, resulting in the cylinder falling through the floor.
+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 = 100.1;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 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);
+
+    /*
+     * Create the cubes
+     */
+    let num = 1;
+    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;
+
+    let x = -centerx + offset;
+    let y = centery + 3.0;
+    let z = -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 = ColliderBuilder::cylinder(rad, rad).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * 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()
+}
-- 
cgit 


From 08930b1238c90bec16db84c50ac4ea7c9a1e0a5b Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 26 Oct 2020 16:36:07 +0100
Subject: Fix multiple warnings.

---
 examples3d/debug_cylinder3.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'examples3d/debug_cylinder3.rs')

diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
index 4e7fae1..0717c67 100644
--- a/examples3d/debug_cylinder3.rs
+++ b/examples3d/debug_cylinder3.rs
@@ -1,4 +1,4 @@
-use na::{Point3, Vector3};
+use na::Point3;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shifty / 2.0;
     let centerz = shiftz * (num / 2) as f32;
 
-    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+    let offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
 
     let x = -centerx + offset;
     let y = centery + 3.0;
-- 
cgit