feat: solver improvements + release v0.29.0 (#876)

* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes

examples3d/all_examples3.rs

@@ -44,6 +44,7 @@ mod debug_cube_high_mass_ratio3;
 mod debug_internal_edges3;
 mod debug_long_chain3;
 mod debug_multibody_ang_motor_pos3;
+mod gyroscopic3;
 mod inverse_kinematics3;
 mod joint_motor_position3;
 mod keva3;
@@ -75,6 +76,7 @@ pub fn main() {
         ("Convex decomposition", convex_decomposition3::init_world),
         ("Convex polyhedron", convex_polyhedron3::init_world),
         ("Damping", damping3::init_world),
+        ("Gyroscopic", gyroscopic3::init_world),
         ("Domino", domino3::init_world),
         ("Dynamic trimeshes", dynamic_trimesh3::init_world),
         ("Heightfield", heightfield3::init_world),

examples3d/debug_multibody_ang_motor_pos3.rs

@@ -12,7 +12,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0);
     colliders.insert_with_parent(collider, body, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::dynamic().position(Isometry::translation(0.0, 1.0, 0.0));
+    let rigid_body = RigidBodyBuilder::dynamic().pose(Isometry::translation(0.0, 1.0, 0.0));
     let body_part = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0).density(1.0);
     colliders.insert_with_parent(collider, body_part, &mut bodies);

examples3d/domino3.rs

@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
                     * tilt
                     * rot;
-            let rigid_body = RigidBodyBuilder::dynamic().position(position);
+            let rigid_body = RigidBodyBuilder::dynamic().pose(position);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width);
             colliders.insert_with_parent(collider, handle, &mut bodies);

examples3d/gyroscopic3.rs

@@ -0,0 +1,30 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+// Simulate the the Dzhanibekov effect:
+// https://en.wikipedia.org/wiki/Tennis_racket_theorem
+pub fn init_world(testbed: &mut Testbed) {
+    let mut colliders = ColliderSet::new();
+    let mut bodies = RigidBodySet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let shapes = vec![
+        (Isometry::identity(), SharedShape::cuboid(2.0, 0.2, 0.2)),
+        (
+            Isometry::translation(0.0, 0.8, 0.0),
+            SharedShape::cuboid(0.2, 0.4, 0.2),
+        ),
+    ];
+
+    let body = RigidBodyBuilder::dynamic()
+        .gravity_scale(0.0)
+        .angvel(vector![0.0, 20.0, 0.1])
+        .gyroscopic_forces_enabled(true);
+    let body_handle = bodies.insert(body);
+    let collider = ColliderBuilder::compound(shapes);
+    colliders.insert_with_parent(collider, body_handle, &mut bodies);
+
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![8.0, 0.0, 8.0], point![0.0, 0.0, 0.0]);
+}

examples3d/joints3.rs

@@ -167,7 +167,7 @@ fn create_revolute_joints(
 
         let mut handles = [curr_parent; 4];
         for k in 0..4 {
-            let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]);
+            let rigid_body = RigidBodyBuilder::dynamic().pose(positions[k]);
             handles[k] = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(rad, rad, rad);
             colliders.insert_with_parent(collider, handles[k], bodies);

examples3d/one_way_platforms3.rs

@@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
             }
         }
 
-        for handle in physics.islands.active_dynamic_bodies() {
+        for handle in physics.islands.active_bodies() {
             let body = physics.bodies.get_mut(*handle).unwrap();
             if body.position().translation.y > 1.0 {
                 body.set_gravity_scale(1.0, false);

examples3d/platform3.rs

@@ -75,21 +75,25 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.add_callback(move |_, physics, _, run_state| {
         let velocity = vector![
             0.0,
-            (run_state.time * 2.0).sin(),
+            (run_state.time * 2.0).cos(),
             run_state.time.sin() * 2.0
         ];
 
         // Update the velocity-based kinematic body by setting its velocity.
         if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
             platform.set_linvel(velocity, true);
-            platform.set_angvel(vector![0.0, 0.2, 0.0], true);
+            platform.set_angvel(vector![0.0, 1.0, 0.0], true);
         }
 
         // Update the position-based kinematic body by setting its next position.
         if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
             let mut next_tra = *platform.translation();
-            next_tra += velocity * physics.integration_parameters.dt;
+            let mut next_rot = *platform.rotation();
+            next_tra += -velocity * physics.integration_parameters.dt;
+            next_rot = Rotation::new(vector![0.0, -0.5 * physics.integration_parameters.dt, 0.0])
+                * next_rot;
             platform.set_next_kinematic_translation(next_tra);
+            platform.set_next_kinematic_rotation(next_rot);
         }
     });
 

examples3d/vehicle_joints3.rs

@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .density(100.0)
         .collision_groups(InteractionGroups::new(CAR_GROUP, !CAR_GROUP));
     let body_rb = RigidBodyBuilder::dynamic()
-        .position(body_position.into())
+        .pose(body_position.into())
         .build();
     let body_handle = bodies.insert(body_rb);
     colliders.insert_with_parent(body_co, body_handle, &mut bodies);
@@ -69,7 +69,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
         let axle_mass_props = MassProperties::from_ball(100.0, wheel_radius);
         let axle_rb = RigidBodyBuilder::dynamic()
-            .position(wheel_center.into())
+            .pose(wheel_center.into())
             .additional_mass_properties(axle_mass_props);
         let axle_handle = bodies.insert(axle_rb);
 
@@ -87,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
             .density(100.0)
             .collision_groups(InteractionGroups::new(CAR_GROUP, !CAR_GROUP))
             .friction(1.0);
-        let wheel_rb = RigidBodyBuilder::dynamic().position(wheel_center.into());
+        let wheel_rb = RigidBodyBuilder::dynamic().pose(wheel_center.into());
         let wheel_handle = bodies.insert(wheel_rb);
         colliders.insert_with_parent(wheel_co, wheel_handle, &mut bodies);
         colliders.insert_with_parent(wheel_fake_co, wheel_handle, &mut bodies);