Improve distant object panics in broad phase (#128)

Co-authored-by: Thierry Berger <contact@thierryberger.com>

CHANGELOG.md

@@ -1,3 +1,9 @@
+## Unreleased
+
+### Fix
+
+- The region key has been replaced by an i64 in the f64 version of rapier, increasing the range before panics occur.
+
 ## v0.22.0 (20 July 2024)
 
 ### Fix

Cargo.toml

@@ -1,6 +1,21 @@
 [workspace]
-members = ["crates/rapier2d", "crates/rapier2d-f64", "crates/rapier_testbed2d", "crates/rapier_testbed2d-f64", "examples2d", "benchmarks2d",
+members = [
-    "crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "crates/rapier_testbed3d-f64", "examples3d", "examples3d-f64", "benchmarks3d", "crates/rapier3d-urdf", "crates/rapier3d-stl"]
+    "crates/rapier2d",
+    "crates/rapier2d-f64",
+    "crates/rapier_testbed2d",
+    "crates/rapier_testbed2d-f64",
+    "examples2d",
+    "benchmarks2d",
+    "crates/rapier3d",
+    "crates/rapier3d-f64",
+    "crates/rapier_testbed3d",
+    "crates/rapier_testbed3d-f64",
+    "examples3d",
+    "examples3d-f64",
+    "benchmarks3d",
+    "crates/rapier3d-urdf",
+    "crates/rapier3d-stl",
+]
 resolver = "2"
 
 [workspace.lints]
@@ -44,4 +59,4 @@ opt-level = 1
 #opt-level = 3
 #
 #[profile.dev.package.kiss3d]
-#opt-level = 3
+#opt-level = 3

crates/rapier_testbed3d/Cargo.toml

@@ -42,7 +42,7 @@ rand = "0.8"
 rand_pcg = "0.3"
 instant = { version = "0.1", features = ["web-sys", "now"] }
 bitflags = "2"
-glam = { version = "0.24", optional = true }                       # For Physx
+glam = { version = "0.24", optional = true } # For Physx
 num_cpus = { version = "1", optional = true }
 physx = { version = "0.19", features = ["glam"], optional = true }
 physx-sys = { version = "0.11", optional = true }

src/geometry/broad_phase_multi_sap/sap_layer.rs

@@ -1,4 +1,4 @@
-use super::{SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
+use super::{RegionKey, SAPProxies, SAPProxy, SAPRegion, SAPRegionPool};
 use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE;
 use crate::geometry::{Aabb, BroadPhaseProxyIndex};
 use crate::math::{Point, Real};
@@ -13,9 +13,9 @@ pub(crate) struct SAPLayer {
     pub smaller_layer: Option<u8>,
     pub larger_layer: Option<u8>,
     region_width: Real,
-    pub regions: HashMap<Point<i32>, BroadPhaseProxyIndex>,
+    pub regions: HashMap<Point<RegionKey>, BroadPhaseProxyIndex>,
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    regions_to_potentially_remove: Vec<Point<i32>>, // Workspace
+    regions_to_potentially_remove: Vec<Point<RegionKey>>, // Workspace
     #[cfg_attr(feature = "serde-serialize", serde(skip))]
     pub created_regions: Vec<BroadPhaseProxyIndex>,
 }
@@ -188,7 +188,7 @@ impl SAPLayer {
     /// of the new region if it did not exist and has been created by this method.
     pub fn ensure_region_exists(
         &mut self,
-        region_key: Point<i32>,
+        region_key: Point<RegionKey>,
         proxies: &mut SAPProxies,
         pool: &mut SAPRegionPool,
     ) -> BroadPhaseProxyIndex {

src/geometry/broad_phase_multi_sap/sap_utils.rs

@@ -1,6 +1,11 @@
 use crate::math::{Point, Real, Vector};
 use parry::bounding_volume::Aabb;
 
+#[cfg(feature = "f32")]
+pub type RegionKey = i32;
+#[cfg(feature = "f64")]
+pub type RegionKey = i64;
+
 pub(crate) const NUM_SENTINELS: usize = 1;
 pub(crate) const NEXT_FREE_SENTINEL: u32 = u32::MAX;
 pub(crate) const SENTINEL_VALUE: Real = Real::MAX;
@@ -23,14 +28,19 @@ pub(crate) fn clamp_point(point: Point<Real>) -> Point<Real> {
     point.map(|e| na::clamp(e, -MAX_AABB_EXTENT, MAX_AABB_EXTENT))
 }
 
-pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<i32> {
+pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<RegionKey> {
     (point / region_width)
         .coords
-        .map(|e| e.floor() as i32)
+        .map(|e| {
+            // If the region is outside this range, the region keys will overlap
+            assert!(e.floor() < RegionKey::MAX as Real);
+            assert!(e.floor() > RegionKey::MIN as Real);
+            e.floor() as RegionKey
+        })
         .into()
 }
 
-pub(crate) fn region_aabb(index: Point<i32>, region_width: Real) -> Aabb {
+pub(crate) fn region_aabb(index: Point<RegionKey>, region_width: Real) -> Aabb {
     let mins = index.coords.map(|i| i as Real * region_width).into();
     let maxs = mins + Vector::repeat(region_width);
     Aabb::new(mins, maxs)

src_testbed/lib.rs

@@ -1,5 +1,4 @@
 #![allow(clippy::too_many_arguments)]
-
 extern crate nalgebra as na;
 
 pub use crate::graphics::{BevyMaterial, GraphicsManager};