add example to test intersection

dimforge · sebcrozet · Jan 8, 2025 · Nov 25, 2024 · Dec 4, 2024 · Dec 4, 2024
commit b24a9e0b8a2b3fa1976477bacd6c8562c8614682
diff --git a/Cargo.toml b/Cargo.toml
@@ -39,10 +39,14 @@ resolver = "2"
 #parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
 
 
-parry2d = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
-parry3d = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
-parry2d-f64 = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
-parry3d-f64 = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+# parry2d = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+# parry3d = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+# parry2d-f64 = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+# parry3d-f64 = { git = "https://github.com/Vrixyz/parry", branch = "273-shape-shape-best" }
+parry2d = { path = "../parry/crates/parry2d" }
+parry3d = { path = "../parry/crates/parry3d" }
+parry2d-f64 = { path = "../parry/crates/parry2d-f64" }
+parry3d-f64 = { path = "../parry/crates/parry3d-f64" }
 
 # # For feature unstable-puffin-pr-235
 # # See https://github.com/dimforge/rapier/issues/760.

diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -34,12 +34,12 @@ default = ["dim2"]
 dim2 = []
 parallel = ["rapier/parallel", "num_cpus"]
 other-backends = ["wrapped2d"]
-profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
+profiler_ui = [] #["dep:puffin_egui", "profiling/profile-with-puffin"]
 # See https://github.com/dimforge/rapier/issues/760.
 unstable-puffin-pr-235 = []
 
 [package.metadata.docs.rs]
-features = ["parallel", "profiling"]
+features = ["parallel", "profiler_ui"]
 
 [lints.clippy]
 needless_lifetimes = "allow"

diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
@@ -34,12 +34,12 @@ default = ["dim2"]
 dim2 = []
 parallel = ["rapier/parallel", "num_cpus"]
 other-backends = ["wrapped2d"]
-profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
+profiler_ui = [] #["dep:puffin_egui", "profiling/profile-with-puffin"]
 # See https://github.com/dimforge/rapier/issues/760.
 unstable-puffin-pr-235 = []
 
 [package.metadata.docs.rs]
-features = ["parallel", "other-backends", "profiling"]
+features = ["parallel", "other-backends", "profiler_ui"]
 
 [lints.clippy]
 needless_lifetimes = "allow"
@@ -62,7 +62,7 @@ bevy_core_pipeline = "0.14"
 bevy_pbr = "0.14"
 bevy_sprite = "0.14"
 profiling = "1.0"
-puffin_egui = { version = "0.29", optional = true }
+#puffin_egui = { version = "0.29", optional = true }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -36,12 +36,12 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 default = ["dim3"]
 dim3 = []
 parallel = ["rapier/parallel", "num_cpus"]
-profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
+profiler_ui = [] #["dep:puffin_egui", "profiling/profile-with-puffin"]
 # See https://github.com/dimforge/rapier/issues/760.
 unstable-puffin-pr-235 = []
 
 [package.metadata.docs.rs]
-features = ["parallel", "profiling"]
+features = ["parallel", "profiler_ui"]
 
 [lints.clippy]
 needless_lifetimes = "allow"

diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
@@ -34,12 +34,12 @@ default = ["dim3"]
 dim3 = []
 parallel = ["rapier/parallel", "num_cpus"]
 other-backends = ["physx", "physx-sys", "glam"]
-profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
+profiler_ui = [] #["dep:puffin_egui", "profiling/profile-with-puffin"]
 # See https://github.com/dimforge/rapier/issues/760.
 unstable-puffin-pr-235 = []
 
 [package.metadata.docs.rs]
-features = ["parallel", "other-backends", "profiling"]
+features = ["parallel", "other-backends", "profiler_ui"]
 
 [lints.clippy]
 needless_lifetimes = "allow"

diff --git a/examples2d/Cargo.toml b/examples2d/Cargo.toml
@@ -20,7 +20,7 @@ usvg = "0.14"
 
 [dependencies.rapier_testbed2d]
 path = "../crates/rapier_testbed2d"
-features = ["profiling"]
+#features = ["profiler_ui"]
 
 [dependencies.rapier2d]
 path = "../crates/rapier2d"

diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
@@ -16,6 +16,7 @@ mod convex_polygons2;
 mod damping2;
 mod debug_box_ball2;
 mod debug_compression2;
+mod debug_intersection2;
 mod debug_total_overlap2;
 mod debug_vertical_column2;
 mod drum2;
@@ -99,6 +100,7 @@ pub fn main() {
         ("Joint motor position", joint_motor_position2::init_world),
         ("(Debug) box ball", debug_box_ball2::init_world),
         ("(Debug) compression", debug_compression2::init_world),
+        ("(Debug) intersection", debug_intersection2::init_world),
         ("(Debug) total overlap", debug_total_overlap2::init_world),
         (
             "(Debug) vertical column",

diff --git a/examples2d/debug_intersection2.rs b/examples2d/debug_intersection2.rs
@@ -0,0 +1,66 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::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 rad = 1.0;
+    let collider = ColliderBuilder::ball(rad);
+
+    let count = 100;
+    for x in 0..count {
+        for y in 0..count {
+            let rigid_body = RigidBodyBuilder::fixed().translation(vector![
+                (x as f32 - count as f32 / 2.0) * rad * 3.0,
+                (y as f32 - count as f32 / 2.0) * rad * 3.0
+            ]);
+            let handle = bodies.insert(rigid_body);
+            colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
+            testbed.set_initial_body_color(
+                handle,
+                [
+                    x as f32 / count as f32,
+                    (count - y) as f32 / count as f32,
+                    0.5,
+                ],
+            );
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![0.0, 0.0], 50.0);
+
+    testbed.add_callback(move |graphics, physics, _, run| {
+        let slow_time = run.timestep_id as f32 / 3.0;
+        let intersection = physics.query_pipeline.intersection_with_shape(
+            &physics.bodies,
+            &physics.colliders,
+            &Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
+            &Ball::new(rad / 2.0),
+            QueryFilter::default(),
+        );
+
+        if let Some(graphics) = graphics {
+            for (handle, _) in physics.bodies.iter() {
+                graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
+            }
+            if let Some(intersection) = intersection {
+                let collider = physics.colliders.get(intersection).unwrap();
+                let body_handle = collider.parent().unwrap();
+
+                graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);
+            }
+        }
+
+        //println!("intersection: {:?}", intersection);
+    });
+}
diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
@@ -23,7 +23,7 @@ bincode = "1"
 
 [dependencies.rapier_testbed3d]
 path = "../crates/rapier_testbed3d"
-features = ["profiling"]
+features = ["profiler_ui"]
 
 [dependencies.rapier3d]
 path = "../crates/rapier3d"

diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
@@ -249,7 +249,7 @@ impl TestbedApp {
     }
 
     pub fn run_with_init(mut self, mut init: impl FnMut(&mut App)) {
-        #[cfg(feature = "profiling")]
+        #[cfg(feature = "profiler_ui")]
         puffin_egui::puffin::set_scopes_on(true);
 
         let mut args = env::args();

diff --git a/src_testbed/ui.rs b/src_testbed/ui.rs
@@ -22,7 +22,7 @@ pub fn update_ui(
     harness: &mut Harness,
     debug_render: &mut DebugRenderPipelineResource,
 ) {
-    #[cfg(feature = "profiling")]
+    #[cfg(feature = "profiler_ui")]
     {
         let window = egui::Window::new("Profiling");
         let window = window.default_open(false);