feat: solver improvements + release v0.29.0 (#876)

* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes

examples3d-f64/all_examples3-f64.rs

@@ -9,11 +9,14 @@ use rapier_testbed3d::{Testbed, TestbedApp};
 use std::cmp::Ordering;
 
 mod debug_serialized3;
+mod trimesh3_f64;
 
 #[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
 pub fn main() {
-    let mut builders: Vec<(_, fn(&mut Testbed))> =
-        vec![("(Debug) serialized", debug_serialized3::init_world)];
+    let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
+        ("Trimesh", trimesh3_f64::init_world),
+        ("(Debug) serialized", debug_serialized3::init_world),
+    ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.
     builders.sort_by(|a, b| match (a.0.starts_with('('), b.0.starts_with('(')) {

examples3d-f64/debug_serialized3.rs

@@ -17,7 +17,10 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    let bytes = std::fs::read("state.bin").unwrap();
+    let Ok(bytes) = std::fs::read("state.bin") else {
+        println!("Failed to load serialized world state.");
+        return;
+    };
     let state: State = bincode::deserialize(&bytes).unwrap();
 
     testbed.set_world(

examples3d-f64/trimesh3_f64.rs

@@ -0,0 +1,82 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::na::ComplexField;
+use rapier3d::prelude::*;
+
+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 ground_size = vector![200.0, 1.0, 200.0];
+    let nsubdivs = 20;
+
+    let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
+        if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs {
+            10.0
+        } else {
+            let x = i as f64 * ground_size.x / (nsubdivs as f64);
+            let z = j as f64 * ground_size.z / (nsubdivs as f64);
+
+            // 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.
+            <f64 as ComplexField>::sin(x) + <f64 as ComplexField>::cos(z)
+        }
+    });
+
+    // Here we will build our trimesh from the mesh representation of an
+    // heightfield.
+    let heightfield = HeightField::new(heights, ground_size);
+    let (vertices, indices) = heightfield.to_trimesh();
+
+    let rigid_body = RigidBodyBuilder::fixed();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::trimesh(vertices, indices).unwrap();
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + rad;
+    let centerx = shift * (num / 2) as f64;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f64;
+
+    for j in 0usize..47 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f64 * shift - centerx;
+                let y = j as f64 * shift + centery + 3.0;
+                let z = k as f64 * shift - centerz;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
+                let handle = bodies.insert(rigid_body);
+
+                if j % 2 == 0 {
+                    let collider = ColliderBuilder::cuboid(rad, rad, rad);
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
+                } else {
+                    let collider = ColliderBuilder::ball(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![100.0, 100.0, 100.0], Point::origin());
+}