feat: add Collider::heightfield_with_flags

src/geometry/collider.rs

@@ -12,6 +12,9 @@ use na::Unit;
 use parry::bounding_volume::Aabb;
 use parry::shape::{Shape, TriMeshFlags};
 
+#[cfg(feature = "dim3")]
+use crate::geometry::HeightFieldFlags;
+
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
 /// A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.
@@ -760,6 +763,17 @@ impl ColliderBuilder {
         Self::new(SharedShape::heightfield(heights, scale))
     }
 
+    /// Initializes a collider builder with a heightfield shape defined by its set of height and a scale
+    /// factor along each coordinate axis.
+    #[cfg(feature = "dim3")]
+    pub fn heightfield_with_flags(
+        heights: na::DMatrix<Real>,
+        scale: Vector<Real>,
+        flags: HeightFieldFlags,
+    ) -> Self {
+        Self::new(SharedShape::heightfield_with_flags(heights, scale, flags))
+    }
+
     /// The default friction coefficient used by the collider builder.
     pub fn default_friction() -> Real {
         0.5

src/pipeline/collision_pipeline.rs

@@ -80,6 +80,7 @@ impl CollisionPipeline {
         narrow_phase.register_pairs(None, colliders, bodies, &self.broad_phase_events, events);
         narrow_phase.compute_contacts(
             prediction_distance,
+            0.0,
             bodies,
             colliders,
             &ImpulseJointSet::new(),

src/pipeline/query_pipeline.rs

@@ -6,8 +6,8 @@ use crate::math::{Isometry, Point, Real, Vector};
 use crate::{dynamics::RigidBodySet, geometry::ColliderSet};
 use parry::partitioning::{QbvhDataGenerator, QbvhUpdateWorkspace};
 use parry::query::details::{
-    NonlinearTOICompositeShapeShapeBestFirstVisitor, PointCompositeShapeProjBestFirstVisitor,
+    NonlinearTOICompositeShapeShapeBestFirstVisitor, NormalConstraints,
-    PointCompositeShapeProjWithFeatureBestFirstVisitor,
+    PointCompositeShapeProjBestFirstVisitor, PointCompositeShapeProjWithFeatureBestFirstVisitor,
     RayCompositeShapeToiAndNormalBestFirstVisitor, RayCompositeShapeToiBestFirstVisitor,
     TOICompositeShapeShapeBestFirstVisitor,
 };
@@ -246,17 +246,22 @@ pub enum QueryPipelineMode {
 
 impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
     type PartShape = dyn Shape;
+    type PartNormalConstraints = dyn NormalConstraints;
     type PartId = ColliderHandle;
     type QbvhStorage = DefaultStorage;
 
     fn map_typed_part_at(
         &self,
         shape_id: Self::PartId,
-        mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
+        mut f: impl FnMut(
+            Option<&Isometry<Real>>,
+            &Self::PartShape,
+            Option<&Self::PartNormalConstraints>,
+        ),
     ) {
         if let Some(co) = self.colliders.get(shape_id) {
             if self.filter.test(self.bodies, shape_id, co) {
-                f(Some(&co.pos), &*co.shape)
+                f(Some(&co.pos), &*co.shape, None)
             }
         }
     }
@@ -264,7 +269,7 @@ impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
     fn map_untyped_part_at(
         &self,
         shape_id: Self::PartId,
-        f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
+        f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape, Option<&dyn NormalConstraints>),
     ) {
         self.map_typed_part_at(shape_id, f);
     }