feat: add a few more debug demos

examples3d/all_examples3.rs

@@ -23,9 +23,11 @@ mod debug_deserialize3;
 mod debug_dynamic_collider_add3;
 mod debug_friction3;
 mod debug_infinite_fall3;
+mod debug_pop3;
 mod debug_prismatic3;
 mod debug_rollback3;
 mod debug_shape_modification3;
+mod debug_thin_cube_on_mesh3;
 mod debug_triangle3;
 mod debug_trimesh3;
 mod domino3;
@@ -124,6 +126,7 @@ pub fn main() {
         ),
         ("(Debug) big colliders", debug_big_colliders3::init_world),
         ("(Debug) boxes", debug_boxes3::init_world),
+        ("(Debug) pop", debug_pop3::init_world),
         (
             "(Debug) dyn. coll. add",
             debug_dynamic_collider_add3::init_world,
@@ -141,6 +144,7 @@ pub fn main() {
         ),
         ("(Debug) triangle", debug_triangle3::init_world),
         ("(Debug) trimesh", debug_trimesh3::init_world),
+        ("(Debug) thin cube", debug_thin_cube_on_mesh3::init_world),
         ("(Debug) cylinder", debug_cylinder3::init_world),
         ("(Debug) infinite fall", debug_infinite_fall3::init_world),
         ("(Debug) prismatic", debug_prismatic3::init_world),

examples3d/debug_internal_edges3.rs

@@ -11,7 +11,8 @@ pub fn init_world(testbed: &mut Testbed) {
     let multibody_joints = MultibodyJointSet::new();
 
     let heights = DMatrix::zeros(100, 100);
-    let heightfield = HeightField::new(heights, vector![60.0, 1.0, 60.0]);
+    let heightfield =
+        HeightField::with_flags(heights, vector![60.0, 1.0, 60.0], HeightFieldFlags::all());
     let rotation = vector![0.0, 0.0, 0.0]; // vector![-0.1, 0.0, 0.0];
     colliders
         .insert(ColliderBuilder::new(SharedShape::new(heightfield.clone())).rotation(rotation));

examples3d/debug_pop3.rs

@@ -0,0 +1,42 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::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 ground_size = 10.0;
+    let ground_height = 10.0;
+
+    for _ in 0..1 {
+        let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+    }
+
+    // Build the dynamic box rigid body.
+    for _ in 0..1 {
+        let rigid_body = RigidBodyBuilder::dynamic()
+            // .translation(vector![0.0, 0.1, 0.0])
+            // .rotation(vector![0.8, 0.2, 0.1])
+            .can_sleep(false);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0);
+        colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
+}

examples3d/debug_thin_cube_on_mesh3.rs

@@ -0,0 +1,59 @@
+use rapier3d::prelude::*;
+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 impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.1;
+    let ground_height = 0.1;
+
+    // let vertices = vec![
+    //     point![-50.0, 0.0, -50.0],
+    //     point![-50.0, 0.0, 50.0],
+    //     point![50.0, 0.0, 50.0],
+    //     point![50.0, 0.0, -50.0],
+    // ];
+    // let indices = vec![[0, 1, 2], [0, 2, 3]];
+    //
+    // let collider = ColliderBuilder::trimesh_with_flags(vertices, indices, TriMeshFlags::all());
+    // colliders.insert(collider);
+
+    let heights = DMatrix::repeat(2, 2, 0.0);
+    let collider = ColliderBuilder::heightfield_with_flags(
+        heights,
+        Vector::new(50.0, 1.0, 50.0),
+        HeightFieldFlags::FIX_INTERNAL_EDGES,
+    );
+    colliders.insert(collider);
+
+    /*
+     * Create the cubes
+     */
+    // Build the rigid body.
+    let rigid_body = RigidBodyBuilder::dynamic()
+        .translation(vector![0.0, 5.0, 0.0])
+        .rotation(vector![0.5, 0.0, 0.5])
+        .linvel(vector![0.0, -100.0, 0.0])
+        .soft_ccd_enabled(true);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.01, 0.015, 5.0);
+    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());
+}