Merge pull request #300 from rustsim/ccd

Implement nonlinear TOI + refactor the query and world modules.

build/ncollide2d/Cargo.toml

@@ -29,6 +29,7 @@ downcast-rs     = "1.0"
 num-traits      = { version = "0.2", default-features = false }
 smallvec        = "0.6"
 slab            = "0.4"
+slotmap         = "0.3"
 petgraph        = "0.4"
 alga            = "0.9"
 nalgebra        = "0.18"

build/ncollide2d/examples/custom_collision_filter2d.rs

@@ -1,34 +1,34 @@
-extern crate nalgebra as na;
-extern crate ncollide2d;
-
-use ncollide2d::broad_phase::BroadPhasePairFilter;
-use ncollide2d::shape::{Ball, ShapeHandle};
-use ncollide2d::world::{CollisionGroups, CollisionObject, CollisionWorld, GeometricQueryType};
-
-struct ParityFilter;
-
-impl BroadPhasePairFilter<f32, ()> for ParityFilter {
-    fn is_pair_valid(&self, b1: &CollisionObject<f32, ()>, b2: &CollisionObject<f32, ()>) -> bool {
-        b1.handle().uid() % 2 == b2.handle().uid() % 2
-    }
-}
+//extern crate nalgebra as na;
+//extern crate ncollide2d;
+//
+//use ncollide2d::broad_phase::BroadPhasePairFilter;
+//use ncollide2d::shape::{Ball, ShapeHandle};
+//use ncollide2d::world::{CollisionGroups, CollisionObject, CollisionWorld, GeometricQueryType};
+//
+//struct ParityFilter;
+//
+//impl BroadPhasePairFilter<f32, ()> for ParityFilter {
+//    fn is_pair_valid(&self, b1: &CollisionObject<f32, ()>, b2: &CollisionObject<f32, ()>) -> bool {
+//        b1.handle().uid() % 2 == b2.handle().uid() % 2
+//    }
+//}
 
 fn main() {
-    let shape = ShapeHandle::new(Ball::new(0.5f32));
-    let groups = CollisionGroups::new();
-    let query = GeometricQueryType::Contacts(0.0, 0.0);
-
-    let mut world = CollisionWorld::new(0.02);
-
-    world.register_broad_phase_pair_filter("Parity filter", ParityFilter);
-
-    world.add(na::one(), shape.clone(), groups, query, ());
-    world.add(na::one(), shape.clone(), groups, query, ());
-    world.add(na::one(), shape.clone(), groups, query, ());
-    world.add(na::one(), shape.clone(), groups, query, ());
-
-    world.update();
-
-    // There will be only 2 contact pairs instead of 6.
-    assert!(world.contact_pairs(true).count() == 2);
+//    let shape = ShapeHandle::new(Ball::new(0.5f32));
+//    let groups = CollisionGroups::new();
+//    let query = GeometricQueryType::Contacts(0.0, 0.0);
+//
+//    let mut world = CollisionWorld::new(0.02);
+//
+//    world.register_broad_phase_pair_filter("Parity filter", ParityFilter);
+//
+//    world.add(na::one(), shape.clone(), groups, query, ());
+//    world.add(na::one(), shape.clone(), groups, query, ());
+//    world.add(na::one(), shape.clone(), groups, query, ());
+//    world.add(na::one(), shape.clone(), groups, query, ());
+//
+//    world.update();
+//
+//    // There will be only 2 contact pairs instead of 6.
+//    assert!(world.contact_pairs(true).count() == 2);
 }

build/ncollide2d/examples/ray_bvt2d.rs

@@ -21,10 +21,10 @@ fn main() {
     let cube2 = Cuboid::new(Vector2::new(1.0, 0.5));
 
     let shapes = [
-        &ball1 as &Shape,
-        &ball2 as &Shape,
-        &cube1 as &Shape,
-        &cube2 as &Shape,
+        &ball1 as &dyn Shape,
+        &ball2 as &dyn Shape,
+        &cube1 as &dyn Shape,
+        &cube2 as &dyn Shape,
     ];
 
     let poss = [

build/ncollide2d/examples/time_of_impact_query2d.rs

@@ -27,6 +27,8 @@ fn main() {
         &cuboid_pos,
         &box_vel1,
         &cuboid,
+       std::f64::MAX,
+        0.0,
     );
     let toi_will_touch = query::time_of_impact(
         &ball_pos_will_touch,
@@ -35,6 +37,8 @@ fn main() {
         &cuboid_pos,
         &box_vel2,
         &cuboid,
+       std::f64::MAX,
+        0.0,
     );
     let toi_wont_touch = query::time_of_impact(
         &ball_pos_wont_touch,
@@ -43,10 +47,12 @@ fn main() {
         &cuboid_pos,
         &box_vel1,
         &cuboid,
+       std::f64::MAX,
+        0.0,
     );
 
-    assert_eq!(toi_intersecting, Some(0.0));
+    assert_eq!(toi_intersecting.map(|toi| toi.toi), Some(0.0));
     println!("Toi: {:?}", toi_will_touch);
-    assert!(toi_will_touch.is_some() && toi_will_touch.unwrap() > 0.0);
-    assert_eq!(toi_wont_touch, None);
+    assert!(toi_will_touch.is_some() && toi_will_touch.unwrap().toi > 0.0);
+    assert_eq!(toi_wont_touch.map(|toi| toi.toi), None);
 }

build/ncollide2d/tests/geometry/ball_ball_toi.rs

@@ -10,7 +10,7 @@ fn test_ball_ball_toi() {
     let m1 = Isometry2::new(na::zero(), na::zero());
     let m2 = Isometry2::new(Vector2::new(0.0, 10.0), na::zero());
 
-    let cast = query::time_of_impact(&m1, &Vector2::new(0.0, 10.0), &b, &m2, &na::zero(), &b);
+    let cast = query::time_of_impact(&m1, &Vector2::new(0.0, 10.0), &b, &m2, &na::zero(), &b,std::f64::MAX, 0.0);
 
-    assert_eq!(cast.unwrap(), 0.9);
+    assert_eq!(cast.unwrap().toi, 0.9);
 }

build/ncollide2d/tests/geometry/epa2.rs

@@ -1,9 +1,7 @@
 use na::{self, Isometry2, Vector2};
 use ncollide2d::narrow_phase::{ContactDispatcher, DefaultContactDispatcher};
-use ncollide2d::query::contacts_internal;
-use ncollide2d::query::ContactPrediction;
+use ncollide2d::query::{self, ContactPrediction};
 use ncollide2d::shape::Cuboid;
-use ncollide2d::utils::IdAllocator;
 
 #[test]
 #[allow(non_snake_case)]
@@ -12,13 +10,13 @@ fn cuboid_cuboid_EPA() {
     let m1 = Isometry2::new(Vector2::new(3.5, 0.0), na::zero());
     let m2 = Isometry2::identity();
 
-    let res = contacts_internal::support_map_against_support_map(&m1, &c, &m2, &c, 10.0)
+    let res = query::contact_support_map_support_map(&m1, &c, &m2, &c, 10.0)
         .expect("Penetration not found.");
     assert_eq!(res.depth, 0.5);
     assert_eq!(res.normal, -Vector2::x_axis());
 
     let m1 = Isometry2::new(Vector2::new(0.0, 0.2), na::zero());
-    let res = contacts_internal::support_map_against_support_map(&m1, &c, &m2, &c, 10.0)
+    let res = query::contact_support_map_support_map(&m1, &c, &m2, &c, 10.0)
         .expect("Penetration not found.");
     assert_eq!(res.depth, 1.8);
     assert_eq!(res.normal, -Vector2::y_axis());
@@ -40,7 +38,6 @@ fn cuboids_large_size_ratio_issue_181() {
 
     let mut p = Vector2::new(0.0, 0.0);
     let mut angle = 0.0;
-    let mut id_alloc = IdAllocator::new();
 
     // Used to panic at some point:
     // thread 'main' panicked at 'assertion failed: neg_dist <= gjk::eps_tol()', ncollide_geometry/query/algorithms/EPA.rs:26:9
@@ -61,7 +58,6 @@ fn cuboids_large_size_ratio_issue_181() {
             &cuboid_b,
             None,
             &prediction,
-            &mut id_alloc,
             &mut manifold
         );
 

build/ncollide2d/tests/geometry/ray_cast.rs

@@ -102,35 +102,37 @@ fn perpendicular_raycast_starting_bellow_segment() {
 /// Tests the accuracy of raycaster collision detection against a `ConvexPolygon`.
 #[test]
 fn convexpoly_raycast_fuzz() {
-    let vertices: Vec<Point2<f64>> = vec![[1, 1], [2, 1], [2, 2], [1, 2]]
+    let vertices: Vec<Point2<f64>> = vec![[2, 1], [2, 2], [1, 2], [1, 1]]
         .into_iter()
         .map(|[x, y]| Point2::new(x as f64, y as f64))
         .collect();
+
     let square = ConvexPolygon::try_new(vertices).unwrap();
     let raycaster = square.as_ray_cast().unwrap();
+
     let test_raycast = |ray_origin: Point2<f64>, ray_look_at: Point2<f64>| -> Option<f64> {
-        let ray_angle: Vector2<f64> = ray_look_at - ray_origin;
+        let ray_angle = ray_look_at - ray_origin;
+
         raycaster.toi_with_ray(
             &Isometry2::identity(),
             &Ray::new(ray_origin, ray_angle.normalize()),
             true,
         )
     };
-    for i in 8..10_000 {
+
+    for i in 0..10_000 {
         let ray_origin = Point2::new(3., 1. + (i as f64 * 0.0001));
         let ray_look_at = Point2::new(0., 2.);
         let collision = test_raycast(ray_origin, ray_look_at);
+
         match collision {
             Some(distance) if distance >= 1.0 && distance < (2.0f64).sqrt() => (),
             Some(distance) if distance >= 2.0 => panic!(
                 "Collided with back face instead of front face. Distance: {}",
                 distance
             ),
             Some(distance) => panic!("Invalid collision distance: {}", distance),
-            None => panic!(
-                "Failed to collide with any face: {}, {}, {}",
-                i, ray_origin, ray_look_at
-            ),
+            None => panic!("Failed to collide with any face"),
         }
     }
 }

build/ncollide2d/tests/geometry/time_of_impact2.rs

@@ -25,6 +25,8 @@ fn ball_cuboid_toi() {
         &cuboid_pos,
         &box_vel1,
         &cuboid,
+       std::f64::MAX,
+        0.0,
     );
     let toi_will_touch = query::time_of_impact(
         &ball_pos_will_touch,
@@ -33,6 +35,8 @@ fn ball_cuboid_toi() {
         &cuboid_pos,
         &box_vel2,
         &cuboid,
+       std::f64::MAX,
+        0.0,
     );
     let toi_wont_touch = query::time_of_impact(
         &ball_pos_wont_touch,
@@ -41,14 +45,16 @@ fn ball_cuboid_toi() {
         &cuboid_pos,
         &box_vel1,
         &cuboid,
+       std::f64::MAX,
+        0.0,
     );
 
-    assert_eq!(toi_intersecting, Some(0.0));
+    assert_eq!(toi_intersecting.map(|toi| toi.toi), Some(0.0));
     assert!(relative_eq!(
-        toi_will_touch.unwrap(),
+        toi_will_touch.unwrap().toi,
         (2.0f64.sqrt() - 1.0) / (ball_vel2 - box_vel2).norm()
     ));
-    assert_eq!(toi_wont_touch, None);
+    assert_eq!(toi_wont_touch.map(|toi| toi.toi), None);
 }
 
 #[test]
@@ -62,6 +68,6 @@ fn cuboid_cuboid_toi_issue_214() {
     let vel1 = Vector2::new(1.0, 0.0);
     let vel2 = Vector2::new(0.0, 0.0);
 
-    let toi = query::time_of_impact(&pos1, &vel1, &shape1, &pos2, &vel2, &shape2);
+    let toi = query::time_of_impact(&pos1, &vel1, &shape1, &pos2, &vel2, &shape2,std::f64::MAX, 0.0);
     assert!(toi.is_some());
 }

build/ncollide2d/tests/pipeline/world_remove.rs

@@ -1,20 +1,19 @@
 use na::{Isometry2, Vector2};
 use ncollide2d::shape::{Ball, ShapeHandle};
-use ncollide2d::world::GeometricQueryType;
-use ncollide2d::world::{CollisionGroups, CollisionWorld};
+use ncollide2d::pipeline::{GeometricQueryType, CollisionGroups, CollisionWorld};
 
 #[test]
 fn issue_57_object_remove() {
     let mut world = CollisionWorld::new(0.1);
     let shape = ShapeHandle::new(Ball::new(1.0));
     let contact_query = GeometricQueryType::Contacts(0.0, 0.0);
-    let object1 = world.add(
+    let (object1, _) = world.add(
         Isometry2::new(Vector2::new(1.0, 0.0), 0.0),
         shape.clone(),
         CollisionGroups::new(),
         contact_query,
         (),
-    ).handle();
+    );
     let _ = world.add(
         Isometry2::new(Vector2::new(1.0, 1.0), 0.0),
         shape.clone(),

build/ncollide3d/Cargo.toml

@@ -29,6 +29,7 @@ downcast-rs = "1.0"
 num-traits = { version = "0.2", default-features = false }
 smallvec   = "0.6"
 slab       = "0.4"
+slotmap    = "0.3"
 petgraph   = "0.4"
 alga       = "0.9"
 nalgebra   = "0.18"

build/ncollide3d/examples/collision_groups.rs

@@ -1,6 +1,6 @@
 extern crate ncollide3d;
 
-use ncollide3d::world::CollisionGroups;
+use ncollide3d::pipeline::CollisionGroups;
 
 fn main() {
     let a = CollisionGroups::new()

build/ncollide3d/examples/custom_collision_filter3d.rs

@@ -1,34 +1,34 @@
-extern crate nalgebra as na;
-extern crate ncollide3d;
-
-use ncollide3d::broad_phase::BroadPhasePairFilter;
-use ncollide3d::shape::{Ball, ShapeHandle};
-use ncollide3d::world::{CollisionGroups, CollisionObject, CollisionWorld, GeometricQueryType};
-
-struct ParityFilter;
-
-impl BroadPhasePairFilter<f32, ()> for ParityFilter {
-    fn is_pair_valid(&self, b1: &CollisionObject<f32, ()>, b2: &CollisionObject<f32, ()>) -> bool {
-        b1.handle().uid() % 2 == b2.handle().uid() % 2
-    }
-}
+//extern crate nalgebra as na;
+//extern crate ncollide3d;
+//
+//use ncollide3d::broad_phase::BroadPhasePairFilter;
+//use ncollide3d::shape::{Ball, ShapeHandle};
+//use ncollide3d::pipeline::{CollisionGroups, CollisionObject, CollisionObjectSlabHandle, CollisionWorld, GeometricQueryType};
+//
+//struct ParityFilter;
+//
+//impl BroadPhasePairFilter<f32, CollisionObject<f32, ()>, CollisionObjectSlabHandle> for ParityFilter {
+//    fn is_pair_valid(&self, _: &CollisionObject<f32, ()>, _: &CollisionObject<f32, ()>, handle1: CollisionObjectSlabHandle, handle2: CollisionObjectSlabHandle) -> bool {
+//        handle1.uid() % 2 == handle2.uid() % 2
+//    }
+//}
 
 fn main() {
-    let shape = ShapeHandle::new(Ball::new(0.5f32));
-    let groups = CollisionGroups::new();
-    let query = GeometricQueryType::Contacts(0.0, 0.0);
-
-    let mut world = CollisionWorld::new(0.02);
-
-    world.register_broad_phase_pair_filter("Parity filter", ParityFilter);
-
-    world.add(na::one(), shape.clone(), groups, query, ());
-    world.add(na::one(), shape.clone(), groups, query, ());
-    world.add(na::one(), shape.clone(), groups, query, ());
-    world.add(na::one(), shape.clone(), groups, query, ());
-
-    world.update();
-
-    // There will be only 2 contacts instead of 6.
-    assert!(world.contact_pairs(true).count() == 2);
+//    let shape = ShapeHandle::new(Ball::new(0.5f32));
+//    let groups = CollisionGroups::new();
+//    let query = GeometricQueryType::Contacts(0.0, 0.0);
+//
+//    let mut world = CollisionWorld::new(0.02);
+//
+//    world.register_broad_phase_pair_filter("Parity filter", ParityFilter);
+//
+//    world.add(na::one(), shape.clone(), groups, query, ());
+//    world.add(na::one(), shape.clone(), groups, query, ());
+//    world.add(na::one(), shape.clone(), groups, query, ());
+//    world.add(na::one(), shape.clone(), groups, query, ());
+//
+//    world.update();
+//
+//    // There will be only 2 contacts instead of 6.
+//    assert!(world.contact_pairs(true).count() == 2);
 }

build/ncollide3d/examples/ray_bvt3d.rs

@@ -21,10 +21,10 @@ fn main() {
     let cube = Cuboid::new(Vector3::new(1.0, 0.5, 1.0));
 
     let shapes = [
-        &ball as &Shape3,
-        &caps as &Shape3,
-        &cone as &Shape3,
-        &cube as &Shape3,
+        &ball as &dyn Shape3,
+        &caps as &dyn Shape3,
+        &cone as &dyn Shape3,
+        &cube as &dyn Shape3,
     ];
 
     let poss = [