Add collision groups demos.

examples2d/all_examples2.rs

@@ -11,6 +11,7 @@ use rapier_testbed2d::Testbed;
 use std::cmp::Ordering;
 
 mod add_remove2;
+mod collision_groups2;
 mod debug_box_ball2;
 mod heightfield2;
 mod joints2;
@@ -52,6 +53,7 @@ pub fn main() {
 
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Add remove", add_remove2::init_world),
+        ("Collision groups", collision_groups2::init_world),
         ("Heightfield", heightfield2::init_world),
         ("Joints", joints2::init_world),
         ("Platform", platform2::init_world),

examples2d/collision_groups2.rs

@@ -0,0 +1,98 @@
+use na::{Point2, Point3};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 5.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height)
+        .build();
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
+    colliders.insert(collider, floor_handle, &mut bodies);
+
+    /*
+     * Setup groups
+     */
+    const GREEN_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
+    const BLUE_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);
+
+    /*
+     * A green floor that will collide with the GREEN group only.
+     */
+    let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
+        .translation(0.0, 1.0)
+        .collision_groups(GREEN_GROUP)
+        .build();
+    let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+
+    testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+
+    /*
+     * A blue floor that will collide with the BLUE group only.
+     */
+    let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
+        .translation(0.0, 2.0)
+        .collision_groups(BLUE_GROUP)
+        .build();
+    let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+
+    testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 0.1;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = 2.5;
+
+    for j in 0usize..4 {
+        for i in 0..num {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery;
+
+            // Alternate between the green and blue groups.
+            let (group, color) = if i % 2 == 0 {
+                (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+            } else {
+                (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+            };
+
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad)
+                .collision_groups(group)
+                .build();
+            colliders.insert(collider, handle, &mut bodies);
+
+            testbed.set_body_color(handle, color);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 1.0), 100.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}

examples3d/all_examples3.rs

@@ -11,6 +11,7 @@ use rapier_testbed3d::Testbed;
 use std::cmp::Ordering;
 
 mod add_remove3;
+mod collision_groups3;
 mod compound3;
 mod debug_boxes3;
 mod debug_cylinder3;
@@ -65,6 +66,7 @@ pub fn main() {
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Add remove", add_remove3::init_world),
         ("Primitives", primitives3::init_world),
+        ("Collision groups", collision_groups3::init_world),
         ("Compound", compound3::init_world),
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),

examples3d/collision_groups3.rs

@@ -0,0 +1,102 @@
+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 5.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, floor_handle, &mut bodies);
+
+    /*
+     * Setup groups
+     */
+    const GREEN_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
+    const BLUE_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);
+
+    /*
+     * A green floor that will collide with the GREEN group only.
+     */
+    let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
+        .translation(0.0, 1.0, 0.0)
+        .collision_groups(GREEN_GROUP)
+        .build();
+    let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+
+    testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+
+    /*
+     * A blue floor that will collide with the BLUE group only.
+     */
+    let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
+        .translation(0.0, 2.0, 0.0)
+        .collision_groups(BLUE_GROUP)
+        .build();
+    let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+
+    testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 0.1;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = 2.5;
+    let centerz = shift * (num / 2) as f32;
+
+    for j in 0usize..4 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery;
+                let z = k as f32 * shift - centerz;
+
+                // Alternate between the green and blue groups.
+                let (group, color) = if k % 2 == 0 {
+                    (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+                } else {
+                    (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+                };
+
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad, rad)
+                    .collision_groups(group)
+                    .build();
+                colliders.insert(collider, handle, &mut bodies);
+
+                testbed.set_body_color(handle, color);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}

src_testbed/engine.rs

@@ -63,6 +63,7 @@ pub struct GraphicsManager {
     #[cfg(feature = "fluids")]
     boundary2sn: HashMap<BoundaryHandle, FluidNode>,
     b2color: HashMap<RigidBodyHandle, Point3<f32>>,
+    c2color: HashMap<ColliderHandle, Point3<f32>>,
     b2wireframe: HashMap<RigidBodyHandle, bool>,
     #[cfg(feature = "fluids")]
     f2color: HashMap<FluidHandle, Point3<f32>>,
@@ -100,6 +101,7 @@ impl GraphicsManager {
             #[cfg(feature = "fluids")]
             boundary2sn: HashMap::new(),
             b2color: HashMap::new(),
+            c2color: HashMap::new(),
             #[cfg(feature = "fluids")]
             f2color: HashMap::new(),
             ground_color: Point3::new(0.5, 0.5, 0.5),
@@ -186,6 +188,10 @@ impl GraphicsManager {
         }
     }
 
+    pub fn set_collider_initial_color(&mut self, c: ColliderHandle, color: Point3<f32>) {
+        self.c2color.insert(c, color);
+    }
+
     pub fn set_body_wireframe(&mut self, b: RigidBodyHandle, enabled: bool) {
         self.b2wireframe.insert(b, enabled);
 
@@ -324,6 +330,7 @@ impl GraphicsManager {
         let mut new_nodes = Vec::new();
 
         for collider_handle in bodies[handle].colliders() {
+            let color = self.c2color.get(collider_handle).copied().unwrap_or(color);
             let collider = &colliders[*collider_handle];
             self.add_collider(window, *collider_handle, collider, color, &mut new_nodes);
         }

src_testbed/testbed.rs

@@ -23,7 +23,9 @@ use rapier::dynamics::{
 };
 #[cfg(feature = "dim3")]
 use rapier::geometry::Ray;
-use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent};
+use rapier::geometry::{
+    BroadPhase, ColliderHandle, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent,
+};
 use rapier::math::Vector;
 use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
 #[cfg(feature = "fluids")]
@@ -497,6 +499,10 @@ impl Testbed {
         self.graphics.set_body_color(body, color);
     }
 
+    pub fn set_collider_initial_color(&mut self, collider: ColliderHandle, color: Point3<f32>) {
+        self.graphics.set_collider_initial_color(collider, color);
+    }
+
     #[cfg(feature = "fluids")]
     pub fn set_fluid_color(&mut self, fluid: FluidHandle, color: Point3<f32>) {
         self.graphics.set_fluid_color(fluid, color);