From 72eb66425d6875704a59c077e92c1fddc51cd881 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 25 Nov 2020 15:58:52 +0100 Subject: Add debug demos for rigid-body change tracking. --- examples3d/all_examples3.rs | 2 ++ examples3d/debug_rollback3.rs | 77 +++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 79 insertions(+) create mode 100644 examples3d/debug_rollback3.rs (limited to 'examples3d') diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 88f3f8f..7549fa6 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -16,6 +16,7 @@ mod damping3; mod debug_boxes3; mod debug_cylinder3; mod debug_infinite_fall3; +mod debug_rollback3; mod debug_triangle3; mod debug_trimesh3; mod domino3; @@ -86,6 +87,7 @@ pub fn main() { ("(Debug) trimesh", debug_trimesh3::init_world), ("(Debug) cylinder", debug_cylinder3::init_world), ("(Debug) infinite fall", debug_infinite_fall3::init_world), + ("(Debug) rollback", debug_rollback3::init_world), ]; // Lexicographic sort, with stress tests moved at the end of the list. diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs new file mode 100644 index 0000000..1c5b643 --- /dev/null +++ b/examples3d/debug_rollback3.rs @@ -0,0 +1,77 @@ +use na::{Isometry3, Point3, Vector3}; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +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 ground_size = 20.0; + 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, 0.4) + .friction(0.15) + // .restitution(0.5) + .build(); + colliders.insert(collider, ground_handle, &mut bodies); + + /* + * Rolling ball + */ + let rb = RigidBodyBuilder::new_dynamic() + .translation(0.0, 0.2, 0.0) + .linvel(10.0, 0.0, 0.0) + .build(); + let ball_handle = bodies.insert(rb); + let collider = ColliderBuilder::ball(0.1).density(100.0).build(); + colliders.insert(collider, ball_handle, &mut bodies); + + let mut linvel = Vector3::zeros(); + let mut angvel = Vector3::zeros(); + let mut pos = Isometry3::identity(); + let mut step = 0; + let snapped_frame = 51; + + testbed.add_callback(move |_, physics, _, _, _| { + step += 1; + let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); + + if step == snapped_frame { + linvel = *ball.linvel(); + angvel = *ball.angvel(); + pos = *ball.position(); + } + + if step == 100 { + ball.set_linvel(linvel, true); + ball.set_angvel(angvel, true); + ball.set_position(pos, true); + step = snapped_frame; + } + + let ground = physics.bodies.get_mut(ground_handle).unwrap(); + ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); + }); + + /* + * 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() +} -- cgit From f293dc602451ddf3c13ce6272f9d3556d47f4fca Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 26 Nov 2020 11:37:58 +0100 Subject: Fix bogus collider removal in the broad-phase. --- examples3d/debug_add_remove_collider3.rs | 110 +++++++++++++++++++++++++++++ examples3d/debug_dynamic_collider_add3.rs | 112 ++++++++++++++++++++++++++++++ 2 files changed, 222 insertions(+) create mode 100644 examples3d/debug_add_remove_collider3.rs create mode 100644 examples3d/debug_dynamic_collider_add3.rs (limited to 'examples3d') diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs new file mode 100644 index 0000000..9e13fb5 --- /dev/null +++ b/examples3d/debug_add_remove_collider3.rs @@ -0,0 +1,110 @@ +use na::{Isometry3, Point3, Vector3}; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +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 ground_size = 20.0; + 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, 0.4) + .friction(0.15) + // .restitution(0.5) + .build(); + let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); + + /* + * Rolling ball + */ + let ball_rad = 0.1; + let rb = RigidBodyBuilder::new_dynamic() + .translation(0.0, 0.2, 0.0) + .linvel(10.0, 0.0, 0.0) + .build(); + let ball_handle = bodies.insert(rb); + let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); + colliders.insert(collider, ball_handle, &mut bodies); + + let mut linvel = Vector3::zeros(); + let mut angvel = Vector3::zeros(); + let mut pos = Isometry3::identity(); + let mut step = 0; + let mut extra_balls = Vec::new(); + let snapped_frame = 51; + + testbed.add_callback(move |window, physics, _, graphics, _| { + step += 1; + + // Add a bigger ball collider + let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)) + .density(100.0) + .build(); + let new_ball_collider_handle = + physics + .colliders + .insert(collider, ball_handle, &mut physics.bodies); + graphics.add_collider(window, new_ball_collider_handle, &physics.colliders); + extra_balls.push(new_ball_collider_handle); + + // Snap the ball velocity or restore it. + let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); + + if step == snapped_frame { + linvel = *ball.linvel(); + angvel = *ball.angvel(); + pos = *ball.position(); + } + + if step == 100 { + ball.set_linvel(linvel, true); + ball.set_angvel(angvel, true); + ball.set_position(pos, true); + step = snapped_frame; + + for ball in &extra_balls { + physics.colliders.remove(*ball, &mut physics.bodies, true); + } + + extra_balls.clear(); + } + + // Remove then re-add the ground collider. + // let ground = physics.bodies.get_mut(ground_handle).unwrap(); + // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); + // let coll = physics + // .colliders + // .remove(ground_collider_handle, &mut physics.bodies, true) + // .unwrap(); + let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) + .friction(0.15) + .build(); + ground_collider_handle = physics + .colliders + .insert(coll, ground_handle, &mut physics.bodies); + graphics.add_collider(window, ground_collider_handle, &physics.colliders); + }); + + /* + * 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_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs new file mode 100644 index 0000000..9a10b27 --- /dev/null +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -0,0 +1,112 @@ +use na::{Isometry3, Point3, Vector3}; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +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 ground_size = 20.0; + 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, 0.4) + .friction(0.15) + // .restitution(0.5) + .build(); + let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); + + /* + * Rolling ball + */ + let ball_rad = 0.1; + let rb = RigidBodyBuilder::new_dynamic() + .translation(0.0, 0.2, 0.0) + .linvel(10.0, 0.0, 0.0) + .build(); + let ball_handle = bodies.insert(rb); + let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); + colliders.insert(collider, ball_handle, &mut bodies); + + let mut linvel = Vector3::zeros(); + let mut angvel = Vector3::zeros(); + let mut pos = Isometry3::identity(); + let mut step = 0; + let mut extra_colliders = Vec::new(); + let snapped_frame = 51; + + testbed.add_callback(move |window, physics, _, graphics, _| { + step += 1; + + // Add a bigger ball collider + let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)) + .density(100.0) + .build(); + let new_ball_collider_handle = + physics + .colliders + .insert(collider, ball_handle, &mut physics.bodies); + graphics.add_collider(window, new_ball_collider_handle, &physics.colliders); + extra_colliders.push(new_ball_collider_handle); + + // Snap the ball velocity or restore it. + let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); + + if step == snapped_frame { + linvel = *ball.linvel(); + angvel = *ball.angvel(); + pos = *ball.position(); + } + + if step == 100 { + ball.set_linvel(linvel, true); + ball.set_angvel(angvel, true); + ball.set_position(pos, true); + step = snapped_frame; + + for handle in &extra_colliders { + physics.colliders.remove(*handle, &mut physics.bodies, true); + } + + extra_colliders.clear(); + } + + // Remove then re-add the ground collider. + // let ground = physics.bodies.get_mut(ground_handle).unwrap(); + // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); + // let coll = physics + // .colliders + // .remove(ground_collider_handle, &mut physics.bodies, true) + // .unwrap(); + let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) + .friction(0.15) + .build(); + new_ground_collider_handle = + physics + .colliders + .insert(coll, ground_handle, &mut physics.bodies); + graphics.add_collider(window, new_ground_collider_handle, &physics.colliders); + extra_colliders.push(new_ground_collider_handle); + }); + + /* + * 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() +} -- cgit From 391bcf372ab19d4ae3eceb056eb605062bf71122 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 26 Nov 2020 11:41:43 +0100 Subject: Fix collider insertion/removal tracking. --- examples3d/all_examples3.rs | 10 +++++ examples3d/debug_add_remove_collider3.rs | 63 +++---------------------------- examples3d/debug_dynamic_collider_add3.rs | 2 +- examples3d/debug_rollback3.rs | 12 +++--- examples3d/platform3.rs | 2 +- 5 files changed, 24 insertions(+), 65 deletions(-) (limited to 'examples3d') diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 7549fa6..82e72e3 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -13,8 +13,10 @@ use std::cmp::Ordering; mod collision_groups3; mod compound3; mod damping3; +mod debug_add_remove_collider3; mod debug_boxes3; mod debug_cylinder3; +mod debug_dynamic_collider_add3; mod debug_infinite_fall3; mod debug_rollback3; mod debug_triangle3; @@ -82,7 +84,15 @@ pub fn main() { ("Sensor", sensor3::init_world), ("Trimesh", trimesh3::init_world), ("Keva tower", keva3::init_world), + ( + "(Debug) add/rm collider", + debug_add_remove_collider3::init_world, + ), ("(Debug) boxes", debug_boxes3::init_world), + ( + "(Debug) dyn. coll. add", + debug_dynamic_collider_add3::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_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs index 9e13fb5..c8d72fc 100644 --- a/examples3d/debug_add_remove_collider3.rs +++ b/examples3d/debug_add_remove_collider3.rs @@ -13,17 +13,14 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground. */ - let ground_size = 20.0; + let ground_size = 3.0; 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, 0.4) - .friction(0.15) - // .restitution(0.5) - .build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build(); let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); /* @@ -32,65 +29,17 @@ pub fn init_world(testbed: &mut Testbed) { let ball_rad = 0.1; let rb = RigidBodyBuilder::new_dynamic() .translation(0.0, 0.2, 0.0) - .linvel(10.0, 0.0, 0.0) .build(); let ball_handle = bodies.insert(rb); let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); colliders.insert(collider, ball_handle, &mut bodies); - let mut linvel = Vector3::zeros(); - let mut angvel = Vector3::zeros(); - let mut pos = Isometry3::identity(); - let mut step = 0; - let mut extra_balls = Vec::new(); - let snapped_frame = 51; - testbed.add_callback(move |window, physics, _, graphics, _| { - step += 1; - - // Add a bigger ball collider - let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)) - .density(100.0) - .build(); - let new_ball_collider_handle = - physics - .colliders - .insert(collider, ball_handle, &mut physics.bodies); - graphics.add_collider(window, new_ball_collider_handle, &physics.colliders); - extra_balls.push(new_ball_collider_handle); - - // Snap the ball velocity or restore it. - let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); - - if step == snapped_frame { - linvel = *ball.linvel(); - angvel = *ball.angvel(); - pos = *ball.position(); - } - - if step == 100 { - ball.set_linvel(linvel, true); - ball.set_angvel(angvel, true); - ball.set_position(pos, true); - step = snapped_frame; - - for ball in &extra_balls { - physics.colliders.remove(*ball, &mut physics.bodies, true); - } - - extra_balls.clear(); - } - // Remove then re-add the ground collider. - // let ground = physics.bodies.get_mut(ground_handle).unwrap(); - // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); - // let coll = physics - // .colliders - // .remove(ground_collider_handle, &mut physics.bodies, true) - // .unwrap(); - let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) - .friction(0.15) - .build(); + let coll = physics + .colliders + .remove(ground_collider_handle, &mut physics.bodies, true) + .unwrap(); ground_collider_handle = physics .colliders .insert(coll, ground_handle, &mut physics.bodies); diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs index 9a10b27..4ea6836 100644 --- a/examples3d/debug_dynamic_collider_add3.rs +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -91,7 +91,7 @@ pub fn init_world(testbed: &mut Testbed) { let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) .friction(0.15) .build(); - new_ground_collider_handle = + let new_ground_collider_handle = physics .colliders .insert(coll, ground_handle, &mut physics.bodies); diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs index 1c5b643..6479e1f 100644 --- a/examples3d/debug_rollback3.rs +++ b/examples3d/debug_rollback3.rs @@ -24,17 +24,18 @@ pub fn init_world(testbed: &mut Testbed) { .friction(0.15) // .restitution(0.5) .build(); - colliders.insert(collider, ground_handle, &mut bodies); + let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); /* * Rolling ball */ + let ball_rad = 0.1; let rb = RigidBodyBuilder::new_dynamic() .translation(0.0, 0.2, 0.0) .linvel(10.0, 0.0, 0.0) .build(); let ball_handle = bodies.insert(rb); - let collider = ColliderBuilder::ball(0.1).density(100.0).build(); + let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); colliders.insert(collider, ball_handle, &mut bodies); let mut linvel = Vector3::zeros(); @@ -43,8 +44,10 @@ pub fn init_world(testbed: &mut Testbed) { let mut step = 0; let snapped_frame = 51; - testbed.add_callback(move |_, physics, _, _, _| { + testbed.add_callback(move |window, physics, _, graphics, _| { step += 1; + + // Snap the ball velocity or restore it. let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); if step == snapped_frame { @@ -59,9 +62,6 @@ pub fn init_world(testbed: &mut Testbed) { ball.set_position(pos, true); step = snapped_frame; } - - let ground = physics.bodies.get_mut(ground_handle).unwrap(); - ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); }); /* diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs index 0843300..0975f39 100644 --- a/examples3d/platform3.rs +++ b/examples3d/platform3.rs @@ -71,7 +71,7 @@ pub fn init_world(testbed: &mut Testbed) { return; } - if let Some(mut platform) = physics.bodies.get_mut(platform_handle) { + if let Some(platform) = physics.bodies.get_mut(platform_handle) { let mut next_pos = *platform.position(); let dt = 0.016; -- cgit