feat: update to parry 0.21

examples3d/voxels3.rs

@@ -14,11 +14,6 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let settings = testbed.example_settings_mut();
 
-    let geometry_mode = settings.get_or_set_string(
-        "Voxels mode",
-        0,
-        vec!["PseudoCube".to_string(), "PseudoBall".to_string()],
-    );
     let falling_objects = settings.get_or_set_string(
         "Falling objects",
         5, // Defaults to Mixed.
@@ -40,12 +35,6 @@ pub fn init_world(testbed: &mut Testbed) {
     // settings.get_or_set_bool("Load .obj", false);
     let load_obj = false;
 
-    let primitive_geometry = if geometry_mode == 0 {
-        VoxelPrimitiveGeometry::PseudoCube
-    } else {
-        VoxelPrimitiveGeometry::PseudoBall
-    };
-
     /*
      * World
      */
@@ -112,13 +101,8 @@ pub fn init_world(testbed: &mut Testbed) {
                     .map(|idx| [idx[0] as u32, idx[1] as u32, idx[2] as u32])
                     .collect();
 
-                let decomposed_shape = SharedShape::voxelized_mesh(
+                let decomposed_shape =
-                    primitive_geometry,
+                    SharedShape::voxelized_mesh(&vertices, &indices, 0.1, FillMode::default());
-                    &vertices,
-                    &indices,
-                    0.1,
-                    FillMode::default(),
-                );
 
                 shapes.push(decomposed_shape);
 
@@ -160,8 +144,7 @@ pub fn init_world(testbed: &mut Testbed) {
             }
         }
     }
-    let collider =
+    let collider = ColliderBuilder::voxels_from_points(voxel_size, &samples).build();
-        ColliderBuilder::voxels_from_points(primitive_geometry, voxel_size, &samples).build();
     let floor_aabb = collider.compute_aabb();
     colliders.insert(collider);
 

src/dynamics/rigid_body_components.rs

@@ -738,7 +738,6 @@ impl RigidBodyVelocity {
 impl std::ops::Mul<Real> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn mul(self, rhs: Real) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel * rhs,
@@ -750,7 +749,6 @@ impl std::ops::Mul<Real> for RigidBodyVelocity {
 impl std::ops::Add<RigidBodyVelocity> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn add(self, rhs: Self) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel + rhs.linvel,
@@ -769,7 +767,6 @@ impl std::ops::AddAssign<RigidBodyVelocity> for RigidBodyVelocity {
 impl std::ops::Sub<RigidBodyVelocity> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn sub(self, rhs: Self) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel - rhs.linvel,

src/geometry/broad_phase_qbvh.rs

@@ -1,4 +1,5 @@
-use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
+use crate::dynamics::RigidBodySet;
+use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
 use parry::math::Real;
 use parry::partitioning::Qbvh;
 use parry::partitioning::QbvhUpdateWorkspace;
@@ -27,12 +28,15 @@ impl BroadPhaseQbvh {
             workspace: QbvhUpdateWorkspace::default(),
         }
     }
+}
 
-    #[allow(dead_code)] // This broad-phase is just experimental right now.
+impl BroadPhase for BroadPhaseQbvh {
-    pub fn update(
+    fn update(
         &mut self,
+        dt: Real,
         prediction_distance: Real,
-        colliders: &ColliderSet,
+        colliders: &mut ColliderSet,
+        bodies: &RigidBodySet,
         modified_colliders: &[ColliderHandle],
         removed_colliders: &[ColliderHandle],
         events: &mut Vec<BroadPhasePairEvent>,
@@ -46,7 +50,9 @@ impl BroadPhaseQbvh {
         // Visitor to find collision pairs.
         let mut visitor = BoundingVolumeIntersectionsSimultaneousVisitor::new(
             |co1: &ColliderHandle, co2: &ColliderHandle| {
+                if *co1 != *co2 {
                     events.push(BroadPhasePairEvent::AddPair(ColliderPair::new(*co1, *co2)));
+                }
                 true
             },
         );
@@ -77,6 +83,8 @@ impl BroadPhaseQbvh {
             let _ = self.qbvh.refit(margin, &mut self.workspace, |handle| {
                 colliders[*handle].compute_collision_aabb(prediction_distance / 2.0)
             });
+            // self.qbvh
+            //     .traverse_bvtt_with_stack(&self.qbvh, &mut visitor, &mut self.stack);
             self.qbvh
                 .traverse_modified_bvtt_with_stack(&self.qbvh, &mut visitor, &mut self.stack);
             self.qbvh.rebalance(margin, &mut self.workspace);

src/geometry/collider.rs

@@ -12,7 +12,7 @@ use crate::pipeline::{ActiveEvents, ActiveHooks};
 use crate::prelude::ColliderEnabled;
 use na::Unit;
 use parry::bounding_volume::{Aabb, BoundingVolume};
-use parry::shape::{Shape, TriMeshBuilderError, TriMeshFlags, VoxelPrimitiveGeometry};
+use parry::shape::{Shape, TriMeshBuilderError, TriMeshFlags};
 use parry::transformation::voxelization::FillMode;
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -580,45 +580,28 @@ impl ColliderBuilder {
     ///
     /// For initializing a voxels shape from points in space, see [`Self::voxels_from_points`].
     /// For initializing a voxels shape from a mesh to voxelize, see [`Self::voxelized_mesh`].
-    pub fn voxels(
+    pub fn voxels(voxel_size: Vector<Real>, voxels: &[Point<i32>]) -> Self {
-        primitive_geometry: VoxelPrimitiveGeometry,
+        Self::new(SharedShape::voxels(voxel_size, voxels))
-        voxel_size: Vector<Real>,
-        voxels: &[Point<i32>],
-    ) -> Self {
-        Self::new(SharedShape::voxels(primitive_geometry, voxel_size, voxels))
     }
 
     /// Initializes a collider made of voxels.
     ///
     /// Each voxel has the size `voxel_size` and contains at least one point from `centers`.
     /// The `primitive_geometry` controls the behavior of collision detection at voxels boundaries.
-    pub fn voxels_from_points(
+    pub fn voxels_from_points(voxel_size: Vector<Real>, points: &[Point<Real>]) -> Self {
-        primitive_geometry: VoxelPrimitiveGeometry,
+        Self::new(SharedShape::voxels_from_points(voxel_size, points))
-        voxel_size: Vector<Real>,
-        points: &[Point<Real>],
-    ) -> Self {
-        Self::new(SharedShape::voxels_from_points(
-            primitive_geometry,
-            voxel_size,
-            points,
-        ))
     }
 
     /// Initializes a voxels obtained from the decomposition of the given trimesh (in 3D)
     /// or polyline (in 2D) into voxelized convex parts.
     pub fn voxelized_mesh(
-        primitive_geometry: VoxelPrimitiveGeometry,
         vertices: &[Point<Real>],
         indices: &[[u32; DIM]],
         voxel_size: Real,
         fill_mode: FillMode,
     ) -> Self {
         Self::new(SharedShape::voxelized_mesh(
-            primitive_geometry,
+            vertices, indices, voxel_size, fill_mode,
-            vertices,
-            indices,
-            voxel_size,
-            fill_mode,
         ))
     }
 

src/geometry/mod.rs

@@ -17,7 +17,7 @@ pub use self::narrow_phase::NarrowPhase;
 
 pub use parry::bounding_volume::BoundingVolume;
 pub use parry::query::{PointQuery, PointQueryWithLocation, RayCast, TrackedContact};
-pub use parry::shape::{SharedShape, VoxelPrimitiveGeometry, VoxelState, VoxelType, Voxels};
+pub use parry::shape::{SharedShape, VoxelState, VoxelType, Voxels};
 
 use crate::math::{Real, Vector};
 

src_testbed/graphics.rs

@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use na::{point, Point3};
+use na::{point, Point3, Point4};
 
 use crate::objects::node::EntityWithGraphics;
 use rapier::dynamics::{RigidBodyHandle, RigidBodySet};
@@ -27,8 +27,60 @@ pub type BevyMaterialComponent = MeshMaterial2d<BevyMaterial>;
 #[cfg(feature = "dim3")]
 pub type BevyMaterialComponent = MeshMaterial3d<BevyMaterial>;
 
-pub type InstancedMaterials = HashMap<Point3<usize>, Handle<BevyMaterial>>;
+#[derive(Clone, Default)]
-pub const SELECTED_OBJECT_MATERIAL_KEY: Point3<usize> = point![42, 42, 42];
+pub struct InstancedMaterials {
+    cache: HashMap<Point4<usize>, Handle<BevyMaterial>>,
+}
+
+impl InstancedMaterials {
+    pub fn insert(
+        &mut self,
+        materials: &mut Assets<BevyMaterial>,
+        color: Point3<f32>,
+        opacity: f32,
+    ) -> Handle<BevyMaterial> {
+        let key = color
+            .coords
+            .push(opacity)
+            .map(|c| (c * 255.0) as usize)
+            .into();
+        let bevy_color = Color::from(Srgba::new(color.x, color.y, color.z, opacity));
+
+        #[cfg(feature = "dim2")]
+        let material = bevy_sprite::ColorMaterial {
+            color: bevy_color,
+            texture: None,
+            ..default()
+        };
+        #[cfg(feature = "dim3")]
+        let material = StandardMaterial {
+            metallic: 0.5,
+            perceptual_roughness: 0.5,
+            double_sided: true, // TODO: this doesn't do anything?
+            ..StandardMaterial::from(bevy_color)
+        };
+
+        self.cache
+            .entry(key)
+            .or_insert_with(|| materials.add(material))
+            .clone_weak()
+    }
+
+    pub fn get(&self, color: &Point3<f32>, opacity: f32) -> Option<Handle<BevyMaterial>> {
+        let key = color
+            .coords
+            .push(opacity)
+            .map(|c| (c * 255.0) as usize)
+            .into();
+        self.cache.get(&key).map(|h| h.clone_weak())
+    }
+
+    pub fn clear(&mut self) {
+        self.cache.clear();
+    }
+}
+
+pub const SELECTED_OBJECT_COLOR: Point3<f32> = point![1.0, 0.0, 0.0];
 
 pub struct GraphicsManager {
     rand: Pcg32,
@@ -52,13 +104,16 @@ impl GraphicsManager {
             ground_color: point![0.5, 0.5, 0.5],
             b2wireframe: HashMap::new(),
             prefab_meshes: HashMap::new(),
-            instanced_materials: HashMap::new(),
+            instanced_materials: Default::default(),
             gfx_shift: Vector::zeros(),
         }
     }
 
     pub fn selection_material(&self) -> Handle<BevyMaterial> {
-        self.instanced_materials[&SELECTED_OBJECT_MATERIAL_KEY].clone_weak()
+        self.instanced_materials
+            .get(&SELECTED_OBJECT_COLOR, 1.0)
+            .unwrap()
+            .clone_weak()
     }
 
     pub fn clear(&mut self, commands: &mut Commands) {
@@ -110,6 +165,7 @@ impl GraphicsManager {
     pub fn set_body_color(
         &mut self,
         materials: &mut Assets<BevyMaterial>,
+        material_handles: &mut Query<&mut BevyMaterialComponent>,
         b: RigidBodyHandle,
         color: [f32; 3],
     ) {
@@ -117,7 +173,11 @@ impl GraphicsManager {
 
         if let Some(ns) = self.b2sn.get_mut(&b) {
             for n in ns.iter_mut() {
-                n.set_color(materials, color.into())
+                n.set_color(materials, &mut self.instanced_materials, color.into());
+
+                if let Ok(mut mat) = material_handles.get_mut(n.entity) {
+                    mat.0 = n.material.clone_weak();
+                }
             }
         }
     }
@@ -185,12 +245,7 @@ impl GraphicsManager {
         color
     }
 
-    fn alloc_color(
+    fn alloc_color(&mut self, handle: RigidBodyHandle, is_fixed: bool) -> Point3<f32> {
-        &mut self,
-        materials: &mut Assets<BevyMaterial>,
-        handle: RigidBodyHandle,
-        is_fixed: bool,
-    ) -> Point3<f32> {
         let mut color = self.ground_color;
 
         if !is_fixed {
@@ -200,7 +255,7 @@ impl GraphicsManager {
             }
         }
 
-        self.set_body_color(materials, handle, color.into());
+        self.b2color.insert(handle, color.into());
 
         color
     }
@@ -221,7 +276,7 @@ impl GraphicsManager {
             .b2color
             .get(&handle)
             .cloned()
-            .unwrap_or_else(|| self.alloc_color(materials, handle, !body.is_dynamic()));
+            .unwrap_or_else(|| self.alloc_color(handle, !body.is_dynamic()));
 
         let _ = self.add_body_colliders_with_color(
             commands, meshes, materials, components, handle, bodies, colliders, color,

src_testbed/harness/mod.rs

@@ -179,7 +179,7 @@ impl Harness {
         self.physics.hooks = Box::new(hooks);
 
         self.physics.islands = IslandManager::new();
-        self.physics.broad_phase = DefaultBroadPhase::new();
+        self.physics.broad_phase = DefaultBroadPhase::default();
         self.physics.narrow_phase = NarrowPhase::new();
         self.state.timestep_id = 0;
         self.state.time = 0.0;

src_testbed/objects/node.rs

@@ -14,7 +14,7 @@ use rapier::geometry::{ColliderHandle, ColliderSet, Shape, ShapeType};
 use rapier::geometry::{Cone, Cylinder};
 use rapier::math::{Isometry, Real, Vector};
 
-use crate::graphics::{BevyMaterial, InstancedMaterials, SELECTED_OBJECT_MATERIAL_KEY};
+use crate::graphics::{BevyMaterial, InstancedMaterials, SELECTED_OBJECT_COLOR};
 #[cfg(feature = "dim2")]
 use {
     na::{vector, Point2, Vector2},
@@ -37,28 +37,7 @@ impl EntityWithGraphics {
         materials: &mut Assets<BevyMaterial>,
         instanced_materials: &mut InstancedMaterials,
     ) {
-        if instanced_materials.contains_key(&SELECTED_OBJECT_MATERIAL_KEY) {
+        instanced_materials.insert(materials, SELECTED_OBJECT_COLOR, 1.0);
-            return; // Already added.
-        }
-
-        #[cfg(feature = "dim2")]
-        let selection_material = bevy_sprite::ColorMaterial {
-            color: Color::from(Srgba::rgb(1.0, 0.0, 0.0)),
-            texture: None,
-            ..default()
-        };
-        #[cfg(feature = "dim3")]
-        let selection_material = StandardMaterial {
-            metallic: 0.5,
-            perceptual_roughness: 0.5,
-            double_sided: true, // TODO: this doesn't do anything?
-            ..StandardMaterial::from(Color::from(Srgba::rgb(1.0, 0.0, 0.0)))
-        };
-
-        instanced_materials.insert(
-            SELECTED_OBJECT_MATERIAL_KEY,
-            materials.add(selection_material),
-        );
     }
 
     pub fn spawn(
@@ -84,8 +63,7 @@ impl EntityWithGraphics {
             .cloned()
             .or_else(|| generate_collider_mesh(shape).map(|m| meshes.add(m)));
 
-        let opacity = 1.0;
+        let opacity = if sensor { 0.25 } else { 1.0 };
-        let bevy_color = Color::from(Srgba::new(color.x, color.y, color.z, opacity));
         let shape_pos = collider_pos * delta;
         let mut transform = Transform::from_scale(scale);
         transform.translation.x = shape_pos.translation.vector.x as f32;
@@ -108,23 +86,7 @@ impl EntityWithGraphics {
             transform.rotation = Quat::from_rotation_z(shape_pos.rotation.angle() as f32);
         }
 
-        #[cfg(feature = "dim2")]
+        let material_handle = instanced_materials.insert(materials, color, opacity);
-        let material = bevy_sprite::ColorMaterial {
-            color: bevy_color,
-            texture: None,
-            ..default()
-        };
-        #[cfg(feature = "dim3")]
-        let material = StandardMaterial {
-            metallic: 0.5,
-            perceptual_roughness: 0.5,
-            double_sided: true, // TODO: this doesn't do anything?
-            ..StandardMaterial::from(bevy_color)
-        };
-        let material_handle = instanced_materials
-            .entry(color.coords.map(|c| (c * 255.0) as usize).into())
-            .or_insert_with(|| materials.add(material));
-        let material_weak_handle = material_handle.clone_weak();
 
         if let Some(mesh) = mesh {
             #[cfg(feature = "dim2")]
@@ -154,7 +116,7 @@ impl EntityWithGraphics {
             base_color: color,
             collider,
             delta,
-            material: material_weak_handle,
+            material: material_handle,
             opacity,
         }
     }
@@ -164,18 +126,13 @@ impl EntityWithGraphics {
         commands.entity(self.entity).despawn();
     }
 
-    pub fn set_color(&mut self, materials: &mut Assets<BevyMaterial>, color: Point3<f32>) {
+    pub fn set_color(
-        if let Some(material) = materials.get_mut(&self.material) {
+        &mut self,
-            #[cfg(feature = "dim2")]
+        materials: &mut Assets<BevyMaterial>,
-            {
+        instanced_materials: &mut InstancedMaterials,
-                material.color = Color::from(Srgba::new(color.x, color.y, color.z, self.opacity));
+        color: Point3<f32>,
-            }
+    ) {
-            #[cfg(feature = "dim3")]
+        self.material = instanced_materials.insert(materials, color, self.opacity);
-            {
-                material.base_color =
-                    Color::from(Srgba::new(color.x, color.y, color.z, self.opacity));
-            }
-        }
         self.color = color;
         self.base_color = color;
     }

src_testbed/physics/mod.rs

@@ -113,7 +113,7 @@ impl PhysicsState {
     pub fn new() -> Self {
         Self {
             islands: IslandManager::new(),
-            broad_phase: DefaultBroadPhase::new(),
+            broad_phase: DefaultBroadPhase::default(),
             narrow_phase: NarrowPhase::new(),
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),

src_testbed/testbed.rs

@@ -178,11 +178,12 @@ struct OtherBackends {
 }
 struct Plugins(Vec<Box<dyn TestbedPlugin>>);
 
-pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f, 'g, 'h> {
+pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f, 'g, 'h, 'i, 'j, 'k> {
     graphics: &'a mut GraphicsManager,
     commands: &'a mut Commands<'d, 'e>,
     meshes: &'a mut Assets<Mesh>,
     materials: &'a mut Assets<BevyMaterial>,
+    material_handles: &'a mut Query<'i, 'j, &'k mut BevyMaterialComponent>,
     components: &'a mut Query<'b, 'f, &'c mut Transform>,
     #[allow(dead_code)] // Dead in 2D but not in 3D.
     camera_transform: GlobalTransform,
@@ -192,8 +193,8 @@ pub struct TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f, 'g, 'h> {
     mouse: &'a SceneMouse,
 }
 
-pub struct Testbed<'a, 'b, 'c, 'd, 'e, 'f, 'g, 'h> {
+pub struct Testbed<'a, 'b, 'c, 'd, 'e, 'f, 'g, 'h, 'i, 'j, 'k> {
-    graphics: Option<TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f, 'g, 'h>>,
+    graphics: Option<TestbedGraphics<'a, 'b, 'c, 'd, 'e, 'f, 'g, 'h, 'i, 'j, 'k>>,
     harness: &'a mut Harness,
     state: &'a mut TestbedState,
     #[cfg(feature = "other-backends")]
@@ -508,9 +509,10 @@ impl TestbedApp {
     }
 }
 
-impl<'g, 'h> TestbedGraphics<'_, '_, '_, '_, '_, '_, 'g, 'h> {
+impl<'g, 'h> TestbedGraphics<'_, '_, '_, '_, '_, '_, 'g, 'h, '_, '_, '_> {
     pub fn set_body_color(&mut self, body: RigidBodyHandle, color: [f32; 3]) {
-        self.graphics.set_body_color(self.materials, body, color);
+        self.graphics
+            .set_body_color(self.materials, self.material_handles, body, color);
     }
 
     pub fn ui_context_mut(&mut self) -> &mut EguiContexts<'g, 'h> {
@@ -585,7 +587,7 @@ impl<'g, 'h> TestbedGraphics<'_, '_, '_, '_, '_, '_, 'g, 'h> {
     }
 }
 
-impl Testbed<'_, '_, '_, '_, '_, '_, '_, '_> {
+impl Testbed<'_, '_, '_, '_, '_, '_, '_, '_, '_, '_, '_> {
     pub fn set_number_of_steps_per_frame(&mut self, nsteps: usize) {
         self.state.nsteps = nsteps
     }
@@ -1131,6 +1133,7 @@ fn update_testbed(
             commands: &mut commands,
             meshes: &mut *meshes,
             materials: &mut *materials,
+            material_handles: &mut material_handles,
             components: &mut gfx_components,
             camera_transform: *cameras.single().1,
             camera: &mut cameras.single_mut().2,
@@ -1246,6 +1249,7 @@ fn update_testbed(
                 commands: &mut commands,
                 meshes: &mut *meshes,
                 materials: &mut *materials,
+                material_handles: &mut material_handles,
                 components: &mut gfx_components,
                 camera_transform: *cameras.single().1,
                 camera: &mut cameras.single_mut().2,
@@ -1421,6 +1425,7 @@ fn update_testbed(
                     commands: &mut commands,
                     meshes: &mut *meshes,
                     materials: &mut *materials,
+                    material_handles: &mut material_handles,
                     components: &mut gfx_components,
                     camera_transform: *cameras.single().1,
                     camera: &mut cameras.single_mut().2,