Merge branch 'dimforge:master' into fix_collission_pipeline

Kuderbe · web-flow · commit d776d34e7663 · 2025-07-01T11:13:46.000+02:00
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,18 @@
+## v0.26.1 (23 May 2025)
+
+### Added
+
+- Add `RigidBodySet::get_pair_mut` and `ColliderSet::get_pair_mut` to get two mutable rigid-bodies or colliders
+  simultaneously.
+
+## v0.26.0 (16 May 2025)
+
+### Modified
+
+- Update to parry 0.21.0. This changes the initialization of `Voxels` colliders by removing the primitive geometry
+  argument. This also fixes intersection checks with voxels, and force calculation between voxels and other
+  voxels or compound shapes.
+
 ## v0.25.1 (02 May 2025)
 
 ### Modified
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d-f64"
-version = "0.25.1"
+version = "0.26.1"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -68,7 +68,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry2d-f64 = "0.20.1"
+parry2d-f64 = "0.21.1"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d"
-version = "0.25.1"
+version = "0.26.1"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -69,7 +69,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry2d = "0.20.1"
+parry2d = "0.21.1"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-f64"
-version = "0.25.1"
+version = "0.26.1"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -71,7 +71,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry3d-f64 = "0.20.1"
+parry3d-f64 = "0.21.1"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d-meshloader/Cargo.toml b/crates/rapier3d-meshloader/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-meshloader"
-version = "0.6.0"
+version = "0.7.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "STL file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
 profiling = "1.0"
 mesh-loader = "0.1.12"
 
-rapier3d = { version = "0.25", path = "../rapier3d" }
+rapier3d = { version = "0.26", path = "../rapier3d" }
diff --git a/crates/rapier3d-urdf/Cargo.toml b/crates/rapier3d-urdf/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-urdf"
-version = "0.6.0"
+version = "0.7.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "URDF file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
 bitflags = "2"
 urdf-rs = "0.9"
 
-rapier3d = { version = "0.25", path = "../rapier3d" }
-rapier3d-meshloader = { version = "0.6.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
+rapier3d = { version = "0.26", path = "../rapier3d" }
+rapier3d-meshloader = { version = "0.7.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d"
-version = "0.25.1"
+version = "0.26.1"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -73,7 +73,7 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.33"
-parry3d = "0.20.1"
+parry3d = "0.21.1"
 simba = "0.9"
 approx = "0.5"
 rayon = { version = "1", optional = true }
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d-f64"
-version = "0.25.1"
+version = "0.26.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.25.1"
+version = "0.26.0"
 features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d"
-version = "0.25.1"
+version = "0.26.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.25.1"
+version = "0.26.0"
 features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d-f64"
-version = "0.25.1"
+version = "0.26.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -100,5 +100,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.25.1"
+version = "0.26.0"
 features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d"
-version = "0.25.1"
+version = "0.26.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.25.1"
+version = "0.26.0"
 features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/examples2d/voxels2.rs b/examples2d/voxels2.rs
@@ -11,11 +11,6 @@ pub fn init_world(testbed: &mut Testbed) {
     // TODO: make the testbed support custom enums (or at least a list of option from strings and
     //       associated constants).
     let settings = testbed.example_settings_mut();
-    let geometry_mode = settings.get_or_set_string(
-        "Voxels mode",
-        0,
-        vec!["PseudoCube".to_string(), "PseudoBall".to_string()],
-    );
     let falling_objects = settings.get_or_set_string(
         "Falling objects",
         3, // Defaults to Mixed.
@@ -30,12 +25,6 @@ pub fn init_world(testbed: &mut Testbed) {
     let voxel_size = Vector::new(1.0, voxel_size_y);
     let test_ccd = settings.get_or_set_bool("Test CCD", false);
 
-    let primitive_geometry = if geometry_mode == 0 {
-        VoxelPrimitiveGeometry::PseudoCube
-    } else {
-        VoxelPrimitiveGeometry::PseudoBall
-    };
-
     /*
      * World
      */
@@ -93,13 +82,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .map(|i| [i, (i + 1) % polyline.len() as u32])
         .collect();
     let rb = bodies.insert(RigidBodyBuilder::fixed().translation(vector![-20.0, -10.0]));
-    let shape = SharedShape::voxelized_mesh(
-        primitive_geometry,
-        &polyline,
-        &indices,
-        0.2,
-        FillMode::default(),
-    );
+    let shape = SharedShape::voxelized_mesh(&polyline, &indices, 0.2, FillMode::default());
 
     colliders.insert_with_parent(ColliderBuilder::new(shape), rb, &mut bodies);
 
@@ -112,11 +95,7 @@ pub fn init_world(testbed: &mut Testbed) {
             point![(i as f32 - 125.0) * voxel_size.x / 2.0, y * voxel_size.y]
         })
         .collect();
-    colliders.insert(ColliderBuilder::voxels_from_points(
-        primitive_geometry,
-        voxel_size,
-        &voxels,
-    ));
+    colliders.insert(ColliderBuilder::voxels_from_points(voxel_size, &voxels));
 
     /*
      * Set up the testbed.
diff --git a/examples3d/voxels3.rs b/examples3d/voxels3.rs
@@ -14,11 +14,6 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let settings = testbed.example_settings_mut();
 
-    let geometry_mode = settings.get_or_set_string(
-        "Voxels mode",
-        0,
-        vec!["PseudoCube".to_string(), "PseudoBall".to_string()],
-    );
     let falling_objects = settings.get_or_set_string(
         "Falling objects",
         5, // Defaults to Mixed.
@@ -40,12 +35,6 @@ pub fn init_world(testbed: &mut Testbed) {
     // settings.get_or_set_bool("Load .obj", false);
     let load_obj = false;
 
-    let primitive_geometry = if geometry_mode == 0 {
-        VoxelPrimitiveGeometry::PseudoCube
-    } else {
-        VoxelPrimitiveGeometry::PseudoBall
-    };
-
     /*
      * World
      */
@@ -112,13 +101,8 @@ pub fn init_world(testbed: &mut Testbed) {
                     .map(|idx| [idx[0] as u32, idx[1] as u32, idx[2] as u32])
                     .collect();
 
-                let decomposed_shape = SharedShape::voxelized_mesh(
-                    primitive_geometry,
-                    &vertices,
-                    &indices,
-                    0.1,
-                    FillMode::default(),
-                );
+                let decomposed_shape =
+                    SharedShape::voxelized_mesh(&vertices, &indices, 0.1, FillMode::default());
 
                 shapes.push(decomposed_shape);
 
@@ -160,8 +144,7 @@ pub fn init_world(testbed: &mut Testbed) {
             }
         }
     }
-    let collider =
-        ColliderBuilder::voxels_from_points(primitive_geometry, voxel_size, &samples).build();
+    let collider = ColliderBuilder::voxels_from_points(voxel_size, &samples).build();
     let floor_aabb = collider.compute_aabb();
     colliders.insert(collider);
 
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
@@ -738,7 +738,6 @@ impl RigidBodyVelocity {
 impl std::ops::Mul<Real> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn mul(self, rhs: Real) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel * rhs,
@@ -750,7 +749,6 @@ impl std::ops::Mul<Real> for RigidBodyVelocity {
 impl std::ops::Add<RigidBodyVelocity> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn add(self, rhs: Self) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel + rhs.linvel,
@@ -769,7 +767,6 @@ impl std::ops::AddAssign<RigidBodyVelocity> for RigidBodyVelocity {
 impl std::ops::Sub<RigidBodyVelocity> for RigidBodyVelocity {
     type Output = Self;
 
-    #[must_use]
     fn sub(self, rhs: Self) -> Self {
         RigidBodyVelocity {
             linvel: self.linvel - rhs.linvel,
diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs
@@ -186,6 +186,29 @@ impl RigidBodySet {
         Some(result)
     }
 
+    /// Gets a mutable reference to the two rigid-bodies with the given handles.
+    ///
+    /// If `handle1 == handle2`, only the first returned value will be `Some`.
+    #[cfg(not(feature = "dev-remove-slow-accessors"))]
+    pub fn get_pair_mut(
+        &mut self,
+        handle1: RigidBodyHandle,
+        handle2: RigidBodyHandle,
+    ) -> (Option<&mut RigidBody>, Option<&mut RigidBody>) {
+        if handle1 == handle2 {
+            (self.get_mut(handle1), None)
+        } else {
+            let (mut rb1, mut rb2) = self.bodies.get2_mut(handle1.0, handle2.0);
+            if let Some(rb1) = rb1.as_deref_mut() {
+                self.modified_bodies.push_once(handle1, rb1);
+            }
+            if let Some(rb2) = rb2.as_deref_mut() {
+                self.modified_bodies.push_once(handle2, rb2);
+            }
+            (rb1, rb2)
+        }
+    }
+
     pub(crate) fn get_mut_internal(&mut self, handle: RigidBodyHandle) -> Option<&mut RigidBody> {
         self.bodies.get_mut(handle.0)
     }
diff --git a/src/geometry/broad_phase_qbvh.rs b/src/geometry/broad_phase_qbvh.rs
@@ -1,4 +1,5 @@
-use crate::geometry::{BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
+use crate::dynamics::RigidBodySet;
+use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderHandle, ColliderPair, ColliderSet};
 use parry::math::Real;
 use parry::partitioning::Qbvh;
 use parry::partitioning::QbvhUpdateWorkspace;
@@ -27,12 +28,15 @@ impl BroadPhaseQbvh {
             workspace: QbvhUpdateWorkspace::default(),
         }
     }
+}
 
-    #[allow(dead_code)] // This broad-phase is just experimental right now.
-    pub fn update(
+impl BroadPhase for BroadPhaseQbvh {
+    fn update(
         &mut self,
+        _dt: Real,
         prediction_distance: Real,
-        colliders: &ColliderSet,
+        colliders: &mut ColliderSet,
+        _bodies: &RigidBodySet,
         modified_colliders: &[ColliderHandle],
         removed_colliders: &[ColliderHandle],
         events: &mut Vec<BroadPhasePairEvent>,
@@ -46,7 +50,9 @@ impl BroadPhaseQbvh {
         // Visitor to find collision pairs.
         let mut visitor = BoundingVolumeIntersectionsSimultaneousVisitor::new(
             |co1: &ColliderHandle, co2: &ColliderHandle| {
-                events.push(BroadPhasePairEvent::AddPair(ColliderPair::new(*co1, *co2)));
+                if *co1 != *co2 {
+                    events.push(BroadPhasePairEvent::AddPair(ColliderPair::new(*co1, *co2)));
+                }
                 true
             },
         );
@@ -77,6 +83,8 @@ impl BroadPhaseQbvh {
             let _ = self.qbvh.refit(margin, &mut self.workspace, |handle| {
                 colliders[*handle].compute_collision_aabb(prediction_distance / 2.0)
             });
+            // self.qbvh
+            //     .traverse_bvtt_with_stack(&self.qbvh, &mut visitor, &mut self.stack);
             self.qbvh
                 .traverse_modified_bvtt_with_stack(&self.qbvh, &mut visitor, &mut self.stack);
             self.qbvh.rebalance(margin, &mut self.workspace);
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
diff --git a/src_testbed/graphics.rs b/src_testbed/graphics.rs
diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
