95bd6fcfeb
* feat: switch to the new Bvh from parry for the broad-phase * chore: cargo fmt + update testbed * chore: remove the multi-grid SAP broad-phase * fix soft-ccd handling in broad-phase * Fix contact cleanup in broad-phase after collider removal * chore: clippy fixes * fix CCD regression * chore: update changelog * fix build with the parallel feature enabled * chore: remove the now useless broad-phase proxy index from colliders * fix tests
90 lines
3.2 KiB
Rust
90 lines
3.2 KiB
Rust
use rapier_testbed3d::{Color, Testbed};
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use rapier3d::prelude::*;
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pub fn init_world(testbed: &mut Testbed) {
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let settings = testbed.example_settings_mut();
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// NOTE: this demo is a bit special. It takes as a setting the builder of another demo,
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// builds it, and add a ton of rays into it. This gives us an easy way to check
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// ray-casting in a wide variety of situations.
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let demos: Vec<_> = crate::demo_builders()
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.into_iter()
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.filter(|(_, builder)| {
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!std::ptr::fn_addr_eq(*builder, self::init_world as fn(&mut Testbed))
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})
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.collect();
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let demo_names: Vec<_> = demos.iter().map(|(name, _)| name.to_string()).collect();
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let selected = settings.get_or_set_string("Scene", 0, demo_names);
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demos[selected].1(testbed);
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/*
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* Cast rays at each frame.
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*/
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let ray_ball_radius = 100.0;
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let ray_ball = Ball::new(ray_ball_radius);
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let (ray_origins, _) = ray_ball.to_trimesh(100, 100);
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let rays: Vec<_> = ray_origins
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.into_iter()
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.map(|pt| Ray::new(pt, -pt.coords.normalize()))
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.collect();
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let mut centered_rays = rays.clone();
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testbed.add_callback(move |graphics, physics, _, _| {
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let Some(graphics) = graphics else {
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return;
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};
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// Re-center the ray relative to the current position of all objects.
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// This ensures demos with falling objects don’t end up with a boring situation
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// where all the rays point into the void.
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let mut center = Point::origin();
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for (_, b) in physics.bodies.iter() {
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center += b.translation();
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}
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center /= physics.bodies.len() as Real;
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for (centered, ray) in centered_rays.iter_mut().zip(rays.iter()) {
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centered.origin = center + ray.origin.coords;
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}
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// Cast the rays.
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let t1 = std::time::Instant::now();
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let max_toi = ray_ball_radius - 1.0;
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let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
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return;
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};
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let query_pipeline = broad_phase.as_query_pipeline(
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physics.narrow_phase.query_dispatcher(),
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&physics.bodies,
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&physics.colliders,
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Default::default(),
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);
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for ray in ¢ered_rays {
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if let Some((_, toi)) = query_pipeline.cast_ray(ray, max_toi, true) {
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let a = ray.origin;
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let b = ray.point_at(toi);
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graphics
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.gizmos
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.line(a.into(), b.into(), Color::srgba(0.0, 1.0f32, 0.0, 0.1));
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} else {
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let a = ray.origin;
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let b = ray.point_at(max_toi);
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graphics
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.gizmos
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.line(a.into(), b.into(), Color::srgba(1.0f32, 0.0, 0.0, 0.1));
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}
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}
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let main_check_time = t1.elapsed().as_secs_f32();
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if let Some(settings) = &mut graphics.settings {
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settings.set_label("Ray count:", format!("{}", rays.len()));
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settings.set_label(
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"Ray-cast time",
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format!("{:.2}ms", main_check_time * 1000.0,),
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);
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}
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});
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}
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