Fix user-change handling for colliders as well as disabled colliders (#900)

* feat: add debug-demo for disabling a collider

* feat: add a simple debug-demo with two cubes

* feat: rename RigidBodyChangnes::MODIFIED and ColliderChanges::MODIFIED to ::IN_MODIFIED_SET

* feat: render debug-colliders with a different color with the debug-renderer

* chore: wire up new examples to the testbed

* fix colliders user-modification being ignored after the first step

* fix broad-phase still taking into account disabled colliders with enabled dynamic rigid-bodies

* chore: update changelog

* fix cargo doc

examples3d/all_examples3.rs

@@ -41,10 +41,12 @@ mod joints3;
 mod character_controller3;
 mod debug_chain_high_mass_ratio3;
 mod debug_cube_high_mass_ratio3;
+mod debug_disabled3;
 mod debug_internal_edges3;
 mod debug_long_chain3;
 mod debug_multibody_ang_motor_pos3;
 mod debug_sleeping_kinematic3;
+mod debug_two_cubes3;
 mod gyroscopic3;
 mod inverse_kinematics3;
 mod joint_motor_position3;
@@ -106,6 +108,8 @@ pub fn main() {
         ("(Debug) big colliders", debug_big_colliders3::init_world),
         ("(Debug) boxes", debug_boxes3::init_world),
         ("(Debug) balls", debug_balls3::init_world),
+        ("(Debug) disabled", debug_disabled3::init_world),
+        ("(Debug) two cubes", debug_two_cubes3::init_world),
         ("(Debug) pop", debug_pop3::init_world),
         (
             "(Debug) dyn. coll. add",

examples3d/debug_disabled3.rs

@@ -0,0 +1,59 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    let rad = 0.5;
+
+    /*
+     * Ground
+     */
+    let ground_size = 10.1;
+    let ground_height = 2.1;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    /*
+     * Platform that will be enabled/disabled.
+     */
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(5.0, 1.0, 5.0);
+    let handle_to_disable = colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    // Callback that will be executed on the main loop to handle proximities.
+    testbed.add_callback(move |mut graphics, physics, _, run_state| {
+        if run_state.timestep_id % 250 == 0 {
+            let co = &mut physics.colliders[handle_to_disable];
+            let enabled = co.is_enabled();
+            co.set_enabled(!enabled);
+            println!("Platform is now enabled: {}", co.is_enabled());
+        }
+
+        if run_state.timestep_id % 25 == 0 {
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 20.0, 0.0]);
+            let handle = physics.bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad, rad);
+            physics
+                .colliders
+                .insert_with_parent(collider, handle, &mut physics.bodies);
+
+            if let Some(graphics) = &mut graphics {
+                graphics.add_body(handle, &physics.bodies, &physics.colliders);
+            }
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
+}

examples3d/debug_two_cubes3.rs

@@ -0,0 +1,29 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+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();
+
+    // Dynamic box rigid body.
+    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 2.0, 0.0]);
+    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::fixed();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.5, 0.5, 0.5);
+    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());
+}