Fix bogus collider removal in the broad-phase.

examples3d/debug_add_remove_collider3.rs

@@ -0,0 +1,110 @@
+use na::{Isometry3, Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+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 = 20.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
+        .friction(0.15)
+        // .restitution(0.5)
+        .build();
+    let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Rolling ball
+     */
+    let ball_rad = 0.1;
+    let rb = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 0.2, 0.0)
+        .linvel(10.0, 0.0, 0.0)
+        .build();
+    let ball_handle = bodies.insert(rb);
+    let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
+    colliders.insert(collider, ball_handle, &mut bodies);
+
+    let mut linvel = Vector3::zeros();
+    let mut angvel = Vector3::zeros();
+    let mut pos = Isometry3::identity();
+    let mut step = 0;
+    let mut extra_balls = Vec::new();
+    let snapped_frame = 51;
+
+    testbed.add_callback(move |window, physics, _, graphics, _| {
+        step += 1;
+
+        // Add a bigger ball collider
+        let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32))
+            .density(100.0)
+            .build();
+        let new_ball_collider_handle =
+            physics
+                .colliders
+                .insert(collider, ball_handle, &mut physics.bodies);
+        graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
+        extra_balls.push(new_ball_collider_handle);
+
+        // Snap the ball velocity or restore it.
+        let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
+
+        if step == snapped_frame {
+            linvel = *ball.linvel();
+            angvel = *ball.angvel();
+            pos = *ball.position();
+        }
+
+        if step == 100 {
+            ball.set_linvel(linvel, true);
+            ball.set_angvel(angvel, true);
+            ball.set_position(pos, true);
+            step = snapped_frame;
+
+            for ball in &extra_balls {
+                physics.colliders.remove(*ball, &mut physics.bodies, true);
+            }
+
+            extra_balls.clear();
+        }
+
+        // Remove then re-add the ground collider.
+        // let ground = physics.bodies.get_mut(ground_handle).unwrap();
+        // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
+        // let coll = physics
+        //     .colliders
+        //     .remove(ground_collider_handle, &mut physics.bodies, true)
+        //     .unwrap();
+        let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
+            .friction(0.15)
+            .build();
+        ground_collider_handle = physics
+            .colliders
+            .insert(coll, ground_handle, &mut physics.bodies);
+        graphics.add_collider(window, ground_collider_handle, &physics.colliders);
+    });
+
+    /*
+     * 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()
+}