First working version of non-linear CCD based on single-substep motion-clamping.

examples3d/ccd3.rs

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+use na::{Isometry3, Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+fn create_wall(
+    testbed: &mut Testbed,
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    offset: Vector3<f32>,
+    stack_height: usize,
+    half_extents: Vector3<f32>,
+) {
+    let shift = half_extents * 2.0;
+    for i in 0usize..stack_height {
+        for j in i..stack_height {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = offset.x;
+            let y = fi * shift.y + offset.y;
+            let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
+                - stack_height as f32 * half_extents.z;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let handle = bodies.insert(rigid_body);
+            let collider =
+                ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
+            colliders.insert(collider, handle, bodies);
+            testbed.set_body_color(handle, Point3::new(218. / 255., 201. / 255., 1.0));
+        }
+    }
+}
+
+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 = 50.0;
+    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, ground_size).build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the pyramids.
+     */
+    let num_z = 8;
+    let num_x = 5;
+    let shift_y = ground_height + 0.5;
+    let shift_z = (num_z as f32 + 2.0) * 2.0;
+
+    for i in 0..num_x {
+        let x = i as f32 * 6.0;
+        create_wall(
+            testbed,
+            &mut bodies,
+            &mut colliders,
+            Vector3::new(x, shift_y, 0.0),
+            num_z,
+            Vector3::new(0.5, 0.5, 1.0),
+        );
+
+        create_wall(
+            testbed,
+            &mut bodies,
+            &mut colliders,
+            Vector3::new(x, shift_y, shift_z),
+            num_z,
+            Vector3::new(0.5, 0.5, 1.0),
+        );
+    }
+
+    /*
+     * Create two very fast rigid-bodies.
+     * The first one has CCD enabled and a sensor collider attached to it.
+     * The second one has CCD enabled and a collider attached to it.
+     */
+    let collider = ColliderBuilder::ball(1.0)
+        .density(10.0)
+        .sensor(true)
+        .build();
+    let mut rigid_body = RigidBodyBuilder::new_dynamic()
+        .linvel(1000.0, 0.0, 0.0)
+        .translation(-20.0, shift_y + 2.0, 0.0)
+        .ccd_enabled(true)
+        .build();
+    let sensor_handle = bodies.insert(rigid_body);
+    colliders.insert(collider, sensor_handle, &mut bodies);
+
+    // Second rigid-body with CCD enabled.
+    let collider = ColliderBuilder::ball(1.0).density(10.0).build();
+    let mut rigid_body = RigidBodyBuilder::new_dynamic()
+        .linvel(1000.0, 0.0, 0.0)
+        .translation(-20.0, shift_y + 2.0, shift_z)
+        .ccd_enabled(true)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    colliders.insert(collider.clone(), handle, &mut bodies);
+
+    // Callback that will be executed on the main loop to handle proximities.
+    testbed.add_callback(move |_, mut graphics, physics, events, _| {
+        while let Ok(prox) = events.intersection_events.try_recv() {
+            let color = if prox.intersecting {
+                Point3::new(1.0, 1.0, 0.0)
+            } else {
+                Point3::new(0.5, 0.5, 1.0)
+            };
+
+            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+
+            if let Some(graphics) = &mut graphics {
+                if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
+                    graphics.set_body_color(parent_handle1, color);
+                }
+                if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
+                    graphics.set_body_color(parent_handle2, color);
+                }
+            }
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}