Add internal edges debug examples.

crates/rapier2d-f64/Cargo.toml

@@ -49,7 +49,7 @@ vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ], optional = true }
 num-traits = "0.2"
 nalgebra = "0.31"
-parry2d-f64 = "0.11"
+parry2d-f64 = "^0.11.1"
 simba = "0.7"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier2d/Cargo.toml

@@ -49,7 +49,7 @@ vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ], optional = true }
 num-traits = "0.2"
 nalgebra = "0.31"
-parry2d = "0.11"
+parry2d = "^0.11.1"
 simba = "0.7"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d-f64/Cargo.toml

@@ -49,7 +49,7 @@ vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ], optional = true }
 num-traits = "0.2"
 nalgebra = "0.31"
-parry3d-f64 = "0.11"
+parry3d-f64 = "^0.11.1"
 simba = "0.7"
 approx = "0.5"
 rayon = { version = "1", optional = true }

crates/rapier3d/Cargo.toml

@@ -49,7 +49,7 @@ vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ], optional = true }
 num-traits = "0.2"
 nalgebra = "0.31"
-parry3d = "0.11"
+parry3d = "^0.11.1"
 simba = "0.7"
 approx = "0.5"
 rayon = { version = "1", optional = true }

examples3d/all_examples3.rs

@@ -34,6 +34,7 @@ mod heightfield3;
 mod joints3;
 // mod joints3;
 mod character_controller3;
+mod debug_internal_edges3;
 mod keva3;
 mod locked_rotations3;
 mod newton_cradle3;
@@ -114,6 +115,7 @@ pub fn main() {
             debug_dynamic_collider_add3::init_world,
         ),
         ("(Debug) friction", debug_friction3::init_world),
+        ("(Debug) internal edges", debug_internal_edges3::init_world),
         ("(Debug) triangle", debug_triangle3::init_world),
         ("(Debug) trimesh", debug_trimesh3::init_world),
         ("(Debug) cylinder", debug_cylinder3::init_world),

examples3d/debug_internal_edges3.rs

@@ -0,0 +1,60 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let heights = DMatrix::zeros(100, 100);
+    let heightfield = HeightField::new(heights, vector![60.0, 1.0, 60.0]);
+    let rotation = vector![0.0, 0.0, 0.0]; // vector![-0.1, 0.0, 0.0];
+    colliders
+        .insert(ColliderBuilder::new(SharedShape::new(heightfield.clone())).rotation(rotation));
+
+    // let mut trimesh = TriMesh::from(heightfield);
+    // trimesh.set_flags(TriMeshFlags::MERGE_DUPLICATE_VERTICES)
+    // colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())).rotation(rotation));
+    // // NOTE: we add a sensor just because we want the testbed to display the mesh’s wireframe.
+    // colliders.insert(
+    //     ColliderBuilder::new(SharedShape::new(trimesh))
+    //         .sensor(true)
+    //         .rotation(rotation),
+    // );
+
+    // Dynamic rigid bodies.
+    let rigid_body = RigidBodyBuilder::dynamic()
+        .translation(vector![4.0, 0.5, 0.0])
+        .linvel(vector![0.0, -40.0, 20.0])
+        .can_sleep(false);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::ball(0.5);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::dynamic()
+        .translation(vector![0.0, 0.5, 0.0])
+        .linvel(vector![0.0, -4.0, 20.0])
+        .can_sleep(false);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.5, 0.5, 0.5);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::dynamic()
+        .translation(vector![8.0, 0.2, 0.0])
+        .linvel(vector![0.0, -4.0, 20.0])
+        .can_sleep(false);
+    let handle = bodies.insert(rigid_body);
+    let collider =
+        ColliderBuilder::cylinder(0.5, 0.2).rotation(vector![0.0, 0.0, std::f32::consts::PI / 2.0]);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
+}

examples3d/trimesh3.rs

@@ -38,7 +38,11 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::trimesh(vertices, indices);
+    let collider = ColliderBuilder::trimesh_with_flags(
+        vertices,
+        indices,
+        TriMeshFlags::MERGE_DUPLICATE_VERTICES,
+    );
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*

src/geometry/collider.rs

@@ -9,7 +9,7 @@ use crate::parry::transformation::vhacd::VHACDParameters;
 use crate::pipeline::{ActiveEvents, ActiveHooks};
 use na::Unit;
 use parry::bounding_volume::Aabb;
-use parry::shape::Shape;
+use parry::shape::{Shape, TriMeshFlags};
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
@@ -550,6 +550,16 @@ impl ColliderBuilder {
         Self::new(SharedShape::trimesh(vertices, indices))
     }
 
+    /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers and
+    /// flags controlling its pre-processing.
+    pub fn trimesh_with_flags(
+        vertices: Vec<Point<Real>>,
+        indices: Vec<[u32; 3]>,
+        flags: TriMeshFlags,
+    ) -> Self {
+        Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags))
+    }
+
     /// Initializes a collider builder with a compound shape obtained from the decomposition of
     /// the given trimesh (in 3D) or polyline (in 2D) into convex parts.
     pub fn convex_decomposition(vertices: &[Point<Real>], indices: &[[u32; DIM]]) -> Self {