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Add a basic lines-based debug-renderer #315

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Apr 28, 2022
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Add a basic lines-based debug-renderer #315

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bc2ae4b
Add a basic lines-based debug-renderer
sebcrozet Apr 22, 2022
007406c
Remove unused dependency
sebcrozet Apr 22, 2022
ae40f4c
Add collision event flags
sebcrozet Apr 28, 2022
95418c2
Rename RigidBody::set_mass_properties -> set_additional_mass_properties
sebcrozet Apr 28, 2022
fd12d76
Fix panic when the world is stepped with dt = 0
sebcrozet Apr 28, 2022
8ffb0d1
Take round shapes into account in 2D debug render
sebcrozet Apr 28, 2022
5063fa4
Testbed: switch to bevy 0.7
sebcrozet Apr 28, 2022
65824e7
Add comments for the debug-renderer
sebcrozet Apr 28, 2022
7dc038a
Fix test build
sebcrozet Apr 28, 2022
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9 changes: 5 additions & 4 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,12 +14,13 @@ resolver = "2"
#parry3d-f64 = { path = "../parry/crates/parry3d-f64" }
# nalgebra = { path = "../nalgebra" }


#kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
parry2d = { git = "https://github.com/dimforge/parry", branch = "split-and-qbvh" }
parry3d = { git = "https://github.com/dimforge/parry", branch = "split-and-qbvh" }
parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "split-and-qbvh" }
parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "split-and-qbvh" }
parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }

[profile.release]
#debug = true
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1 change: 1 addition & 0 deletions crates/rapier2d-f64/Cargo.toml
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Expand Up @@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ]
wasm-bindgen = [ "instant/wasm-bindgen" ]
serde-serialize = [ "nalgebra/serde-serialize", "parry2d-f64/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
enhanced-determinism = [ "simba/libm_force", "parry2d-f64/enhanced-determinism", "indexmap" ]
debug-render = [ ]

# Feature used for debugging only.
debug-disable-legitimate-fe-exceptions = [ ]
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1 change: 1 addition & 0 deletions crates/rapier2d/Cargo.toml
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Expand Up @@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ]
wasm-bindgen = [ "instant/wasm-bindgen" ]
serde-serialize = [ "nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
enhanced-determinism = [ "simba/libm_force", "parry2d/enhanced-determinism", "indexmap" ]
debug-render = [ ]

# Feature used for debugging only.
debug-disable-legitimate-fe-exceptions = [ ]
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1 change: 1 addition & 0 deletions crates/rapier3d-f64/Cargo.toml
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Expand Up @@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ]
wasm-bindgen = [ "instant/wasm-bindgen" ]
serde-serialize = [ "nalgebra/serde-serialize", "parry3d-f64/serde-serialize", "serde", "bit-vec/serde" ]
enhanced-determinism = [ "simba/libm_force", "parry3d-f64/enhanced-determinism" ]
debug-render = []

# Feature used for debugging only.
debug-disable-legitimate-fe-exceptions = [ ]
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1 change: 1 addition & 0 deletions crates/rapier3d/Cargo.toml
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Expand Up @@ -28,6 +28,7 @@ simd-is-enabled = [ "vec_map" ]
wasm-bindgen = [ "instant/wasm-bindgen" ]
serde-serialize = [ "nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde" ]
enhanced-determinism = [ "simba/libm_force", "parry3d/enhanced-determinism" ]
debug-render = [ ]

# Feature used for debugging only.
debug-disable-legitimate-fe-exceptions = [ ]
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11 changes: 6 additions & 5 deletions crates/rapier_testbed2d-f64/Cargo.toml
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Expand Up @@ -38,20 +38,21 @@ bincode = "1"
Inflector = "0.11"
md5 = "0.7"

bevy_egui = "0.10"
bevy_ecs = "0.6"
bevy_egui = "0.13"
bevy_ecs = "0.7"
#bevy_prototype_debug_lines = "0.7"

# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render", "x11"]}

# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"

[dependencies.rapier]
package = "rapier2d-f64"
path = "../rapier2d-f64"
version = "0.12.0-alpha.1"
features = [ "serde-serialize" ]
features = [ "serde-serialize", "debug-render" ]
11 changes: 6 additions & 5 deletions crates/rapier_testbed2d/Cargo.toml
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Expand Up @@ -38,20 +38,21 @@ bincode = "1"
Inflector = "0.11"
md5 = "0.7"

bevy_egui = "0.10"
bevy_ecs = "0.6"
bevy_egui = "0.13"
bevy_ecs = "0.7"
#bevy_prototype_debug_lines = "0.7"

# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render", "x11"]}

# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"

[dependencies.rapier]
package = "rapier2d"
path = "../rapier2d"
version = "0.12.0-alpha.1"
features = [ "serde-serialize" ]
features = [ "serde-serialize", "debug-render" ]
11 changes: 6 additions & 5 deletions crates/rapier_testbed3d-f64/Cargo.toml
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Expand Up @@ -36,20 +36,21 @@ md5 = "0.7"
Inflector = "0.11"
serde = { version = "1", features = [ "derive" ] }

bevy_egui = "0.10"
bevy_ecs = "0.6"
bevy_egui = "0.13"
bevy_ecs = "0.7"
#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }

# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render", "x11"]}

# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"

[dependencies.rapier]
package = "rapier3d-f64"
path = "../rapier3d-f64"
version = "0.12.0-alpha.1"
features = [ "serde-serialize" ]
features = [ "serde-serialize", "debug-render" ]
11 changes: 6 additions & 5 deletions crates/rapier_testbed3d/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -40,20 +40,21 @@ md5 = "0.7"
Inflector = "0.11"
serde = { version = "1", features = [ "derive" ] }

bevy_egui = "0.10"
bevy_ecs = "0.6"
bevy_egui = "0.13"
bevy_ecs = "0.7"
#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }

# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render", "x11"]}

# Dependencies for WASM only.
[target.'cfg(target_arch = "wasm32")'.dependencies]
bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "render"]}
#bevy_webgl2 = "0.5"

[dependencies.rapier]
package = "rapier3d"
path = "../rapier3d"
version = "0.12.0-alpha.1"
features = [ "serde-serialize" ]
features = [ "serde-serialize", "debug-render" ]
156 changes: 78 additions & 78 deletions examples3d/joints3.rs
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Expand Up @@ -578,33 +578,33 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();

// create_prismatic_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![20.0, 5.0, 0.0],
// 4,
// use_articulations,
// );
// create_actuated_prismatic_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![25.0, 5.0, 0.0],
// 4,
// use_articulations,
// );
// create_revolute_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![20.0, 0.0, 0.0],
// 3,
// use_articulations,
// );
create_prismatic_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 5.0, 0.0],
4,
use_articulations,
);
create_actuated_prismatic_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![25.0, 5.0, 0.0],
4,
use_articulations,
);
create_revolute_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 0.0, 0.0],
3,
use_articulations,
);
create_revolute_joints_with_limits(
&mut bodies,
&mut colliders,
Expand All @@ -613,57 +613,57 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) {
point![34.0, 0.0, 0.0],
use_articulations,
);
// create_fixed_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![0.0, 10.0, 0.0],
// 10,
// use_articulations,
// );
// create_actuated_revolute_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![20.0, 10.0, 0.0],
// 6,
// use_articulations,
// );
// create_actuated_spherical_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![13.0, 10.0, 0.0],
// 3,
// use_articulations,
// );
// create_spherical_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// 15,
// use_articulations,
// );
// create_spherical_joints_with_limits(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![-5.0, 0.0, 0.0],
// use_articulations,
// );
// create_coupled_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![0.0, 20.0, 0.0],
// use_articulations,
// );
create_fixed_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![0.0, 10.0, 0.0],
10,
use_articulations,
);
create_actuated_revolute_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 10.0, 0.0],
6,
use_articulations,
);
create_actuated_spherical_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![13.0, 10.0, 0.0],
3,
use_articulations,
);
create_spherical_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
15,
use_articulations,
);
create_spherical_joints_with_limits(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![-5.0, 0.0, 0.0],
use_articulations,
);
create_coupled_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![0.0, 20.0, 0.0],
use_articulations,
);

/*
* Set up the testbed.
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16 changes: 13 additions & 3 deletions src/dynamics/ccd/ccd_solver.rs
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Expand Up @@ -4,7 +4,7 @@ use crate::geometry::{ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
use crate::math::Real;
use crate::parry::utils::SortedPair;
use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
use crate::prelude::ActiveEvents;
use crate::prelude::{ActiveEvents, CollisionEventFlags};
use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
use parry::utils::hashmap::HashMap;
use std::collections::BinaryHeap;
Expand Down Expand Up @@ -529,8 +529,18 @@ impl CCDSolver {
.contains(ActiveEvents::COLLISION_EVENTS)
{
// Emit one intersection-started and one intersection-stopped event.
events.handle_collision_event(CollisionEvent::Started(toi.c1, toi.c2), None);
events.handle_collision_event(CollisionEvent::Stopped(toi.c1, toi.c2, false), None);
events.handle_collision_event(
bodies,
colliders,
CollisionEvent::Started(toi.c1, toi.c2, CollisionEventFlags::SENSOR),
None,
);
events.handle_collision_event(
bodies,
colliders,
CollisionEvent::Stopped(toi.c1, toi.c2, CollisionEventFlags::SENSOR),
None,
);
}
}

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4 changes: 2 additions & 2 deletions src/dynamics/integration_parameters.rs
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Expand Up @@ -93,12 +93,12 @@ impl IntegrationParameters {

/// The ERP coefficient, multiplied by the inverse timestep length.
pub fn erp_inv_dt(&self) -> Real {
self.erp / self.dt
self.erp * self.inv_dt()
}

/// The joint ERP coefficient, multiplied by the inverse timestep length.
pub fn joint_erp_inv_dt(&self) -> Real {
self.joint_erp / self.dt
self.joint_erp * self.inv_dt()
}

/// The CFM factor to be used in the constraints resolution.
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10 changes: 10 additions & 0 deletions src/dynamics/joint/multibody_joint/multibody_joint_set.rs
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Expand Up @@ -299,10 +299,20 @@ impl MultibodyJointSet {
}

/// Gets a mutable reference to the multibody identified by its `handle`.
pub fn get_mut(&mut self, handle: MultibodyJointHandle) -> Option<(&mut Multibody, usize)> {
let link = self.rb2mb.get(handle.0)?;
let multibody = self.multibodies.get_mut(link.multibody.0)?;
Some((multibody, link.id))
}

/// Gets a mutable reference to the multibody identified by its `handle`.
///
/// This method will bypass any modification-detection automatically done by the MultibodyJointSet.
pub fn get_mut_internal(
&mut self,
handle: MultibodyJointHandle,
) -> Option<(&mut Multibody, usize)> {
// TODO: modification tracking?
let link = self.rb2mb.get(handle.0)?;
let multibody = self.multibodies.get_mut(link.multibody.0)?;
Some((multibody, link.id))
Expand Down
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