Fix the last few bugs and unbounded memory usage.

examples3d/debug_big_colliders3.rs

@@ -1,6 +1,6 @@
-use na::Point3;
+use na::{Point3, Vector3};
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
-use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, SharedShape};
 use rapier_testbed3d::Testbed;
 
 pub fn init_world(testbed: &mut Testbed) {
@@ -14,30 +14,27 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
-    let ground_size = 100.0;
-    let ground_height = 0.1;
-
     let rigid_body = RigidBodyBuilder::new_static().build();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
-        .friction(1.5)
-        .build();
+    let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis()));
+    let collider = ColliderBuilder::new(halfspace).build();
     colliders.insert(collider, handle, &mut bodies);
 
     let mut curr_y = 0.0;
-    let mut curr_width = 1_000.0;
+    let mut curr_width = 10_000.0;
 
-    for _ in 0..6 {
-        curr_y += curr_width;
+    for _ in 0..12 {
+        let curr_height = 0.1f32.min(curr_width);
+        curr_y += curr_height * 4.0;
 
         let rigid_body = RigidBodyBuilder::new_dynamic()
             .translation(0.0, curr_y, 0.0)
             .build();
         let handle = bodies.insert(rigid_body);
-        let collider = ColliderBuilder::cuboid(curr_width, curr_width, curr_width).build();
+        let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build();
         colliders.insert(collider, handle, &mut bodies);
 
-        curr_width /= 10.0;
+        curr_width /= 5.0;
     }
 
     /*

examples3d/debug_infinite_fall3.rs

@@ -1,3 +1,4 @@
+use na::Point3;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -17,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_height = 2.1;
 
     let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 0.0)
+        .translation(0.0, 4.0, 0.0)
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
@@ -26,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rad = 1.0;
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0 * rad, 0.0)
+        .translation(0.0, 7.0 * rad, 0.0)
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
@@ -34,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert(collider, handle, &mut bodies);
 
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 5.0 * rad, 0.0)
+        .translation(0.0, 2.0 * rad, 0.0)
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
@@ -44,6 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
+    testbed.look_at(Point3::new(100.0, -10.0, 100.0), Point3::origin());
     testbed.set_world(bodies, colliders, joints);
 }
 

examples3d/fountain3.rs

@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Ground
      */
     let ground_size = 100.1;
-    let ground_height = 2.1;
+    let ground_height = 2.1; // 16.0;
 
     let rigid_body = RigidBodyBuilder::new_static()
         .translation(0.0, -ground_height, 0.0)
@@ -64,10 +64,6 @@ pub fn init_world(testbed: &mut Testbed) {
                 physics
                     .bodies
                     .remove(*handle, &mut physics.colliders, &mut physics.joints);
-                physics.broad_phase.maintain(&mut physics.colliders);
-                physics
-                    .narrow_phase
-                    .maintain(&mut physics.colliders, &mut physics.bodies);
 
                 if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
                     graphics.remove_body_nodes(window, *handle);
@@ -80,10 +76,10 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed
-        .physics_state_mut()
-        .integration_parameters
-        .velocity_based_erp = 0.2;
+    // testbed
+    //     .physics_state_mut()
+    //     .integration_parameters
+    //     .velocity_based_erp = 0.2;
     testbed.look_at(Point3::new(-30.0, 4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
 }
 

examples3d/primitives3.rs

@@ -11,6 +11,19 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut colliders = ColliderSet::new();
     let joints = JointSet::new();
 
+    /*
+     * Ground
+     */
+    let ground_size = 100.1;
+    let ground_height = 2.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
     /*
      * Create the cubes
      */
@@ -26,11 +39,11 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
 
-    for j in 0usize..1 {
-        for i in 0..1 {
-            for k in 0usize..1 {
+    for j in 0usize..20 {
+        for i in 0..num {
+            for k in 0usize..num {
                 let x = i as f32 * shiftx - centerx + offset;
-                let y = j as f32 * shifty + centery - rad;
+                let y = j as f32 * shifty + centery + 3.0;
                 let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
@@ -54,37 +67,10 @@ pub fn init_world(testbed: &mut Testbed) {
         offset -= 0.05 * rad * (num as f32 - 1.0);
     }
 
-    /*
-     * Ground
-     */
-    testbed.add_callback(
-        move |mut window, mut graphics, physics, events, run_state| {
-            if run_state.timestep_id == 10 {
-                let ground_size = 100.1;
-                let ground_height = 2.1;
-
-                let rigid_body = RigidBodyBuilder::new_static()
-                    .translation(0.0, -ground_height, 0.0)
-                    .build();
-                let handle = physics.bodies.insert(rigid_body);
-                let collider =
-                    ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
-                physics
-                    .colliders
-                    .insert(collider, handle, &mut physics.bodies);
-
-                if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
-                    graphics.add(window, handle, &physics.bodies, &physics.colliders);
-                }
-            }
-        },
-    );
-
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
-    testbed.physics_state_mut().gravity.fill(0.0);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }