Testing compounds vs child colliders

bevy_rapier3d/Cargo.toml

@@ -7,46 +7,58 @@ documentation = "http://docs.rs/bevy_rapier3d"
 homepage = "http://rapier.rs"
 repository = "https://github.com/dimforge/bevy_rapier"
 readme = "../README.md"
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
+keywords = ["physics", "dynamics", "rigid", "real-time", "joints"]
 license = "Apache-2.0"
 edition = "2021"
 
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [lib]
 path = "../src/lib.rs"
-required-features = [ "dim3" ]
+required-features = ["dim3"]
 
 [features]
-default = [ "dim3", "async-collider", "debug-render-3d" ]
+default = ["dim3", "async-collider", "debug-render-3d"]
 dim3 = []
-debug-render = [ "debug-render-3d" ]
-debug-render-2d = [ "bevy/bevy_core_pipeline", "bevy/bevy_sprite", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset" ]
-debug-render-3d = [ "bevy/bevy_core_pipeline", "bevy/bevy_pbr", "bevy/bevy_gizmos", "rapier3d/debug-render", "bevy/bevy_asset" ]
-parallel = [ "rapier3d/parallel" ]
-simd-stable = [ "rapier3d/simd-stable" ]
-simd-nightly = [ "rapier3d/simd-nightly" ]
-wasm-bindgen = [ "rapier3d/wasm-bindgen" ]
-serde-serialize = [ "rapier3d/serde-serialize", "bevy/serialize", "serde" ]
-enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
-headless = [ ]
-async-collider = [ "bevy/bevy_asset", "bevy/bevy_scene" ]
+debug-render = ["debug-render-3d"]
+debug-render-2d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_sprite",
+    "bevy/bevy_gizmos",
+    "rapier3d/debug-render",
+    "bevy/bevy_asset",
+]
+debug-render-3d = [
+    "bevy/bevy_core_pipeline",
+    "bevy/bevy_pbr",
+    "bevy/bevy_gizmos",
+    "rapier3d/debug-render",
+    "bevy/bevy_asset",
+]
+parallel = ["rapier3d/parallel"]
+simd-stable = ["rapier3d/simd-stable"]
+simd-nightly = ["rapier3d/simd-nightly"]
+wasm-bindgen = ["rapier3d/wasm-bindgen"]
+serde-serialize = ["rapier3d/serde-serialize", "bevy/serialize", "serde"]
+enhanced-determinism = ["rapier3d/enhanced-determinism"]
+headless = []
+async-collider = ["bevy/bevy_asset", "bevy/bevy_scene"]
 
 [dependencies]
 bevy = { version = "0.11", default-features = false }
-nalgebra = { version = "0.32.3", features = [ "convert-glam024" ] }
+nalgebra = { version = "0.32.3", features = ["convert-glam024"] }
 # Don't enable the default features because we don't need the ColliderSet/RigidBodySet
 rapier3d = "0.17.0"
 bitflags = "1"
 #bevy_prototype_debug_lines = { version = "0.6", features = ["3d"], optional = true }
 log = "0.4"
-serde = { version = "1", features = [ "derive" ], optional = true}
+serde = { version = "1", features = ["derive"], optional = true }
 
 [dev-dependencies]
-bevy = { version = "0.11", default-features = false, features = ["x11"]}
+bevy = { version = "0.11", default-features = false, features = ["x11"] }
 approx = "0.5.1"
-glam = { version = "0.24", features = [ "approx" ] }
+glam = { version = "0.24", features = ["approx"] }
 
 [package.metadata.docs.rs]
 # Enable all the features when building the docs on docs.rs
-features = [ "debug-render-3d", "serde-serialize" ]
+features = ["debug-render-3d", "serde-serialize"]

bevy_rapier3d/examples/boxes3.rs

@@ -17,6 +17,155 @@ fn main() {
         .run();
 }
 
+fn setup_compound(mut commands: Commands, mut meshes: ResMut<Assets<Mesh>>) {
+    // Normal compound
+    // - Scaling works as expected
+    commands
+        .spawn(TransformBundle::default())
+        .insert(Name::new("Compound"))
+        .insert(RigidBody::Dynamic)
+        .insert(ToggleCollider)
+        .insert(ToggleScale)
+        .insert(Collider::compound(vec![
+            (Vec3::ZERO, Quat::IDENTITY, Collider::cuboid(0.5, 0.5, 0.5)),
+            (
+                Vec3::new(0.0, 1.0, 0.0),
+                Quat::IDENTITY,
+                Collider::cuboid(0.5, 0.5, 0.5),
+            ),
+            (
+                Vec3::new(-1.0, 1.0, 0.0),
+                Quat::IDENTITY,
+                Collider::cuboid(0.5, 0.5, 0.5),
+            ),
+        ]));
+
+    let mesh = meshes.add(Mesh::from(shape::UVSphere {
+        radius: 0.2,
+        ..default()
+    }));
+
+    commands
+        .spawn(PbrBundle {
+            mesh: mesh.clone(),
+            ..default()
+        })
+        .insert(TransformBundle::from_transform(Transform {
+            translation: Vec3::new(-4.0, 0.0, 0.0),
+            ..default()
+        }))
+        .insert(Name::new("Standalone collider"))
+        .insert(ToggleScale)
+        .insert(ToggleCollider)
+        .insert(Collider::cuboid(0.5, 0.5, 0.5));
+
+    commands
+        .spawn(PbrBundle {
+            mesh: mesh.clone(),
+            ..default()
+        })
+        .insert(TransformBundle::from_transform(Transform {
+            translation: Vec3::new(4.0, 0.0, 0.0),
+            ..default()
+        }))
+        .insert(Name::new("Compound via children"))
+        .insert(RigidBody::Dynamic)
+        .insert(ToggleScale)
+        //.insert(ToggleCollider)
+        .insert(Collider::cuboid(0.5, 0.5, 0.5))
+        .with_children(|children| {
+            children
+                .spawn(PbrBundle {
+                    mesh: mesh.clone(),
+                    ..default()
+                })
+                .insert(TransformBundle::from_transform(Transform {
+                    translation: Vec3::new(0.0, 1.0, 0.0),
+                    ..default()
+                }))
+                .insert(Name::new("Child collider"))
+                .insert(Collider::cuboid(0.5, 0.5, 0.5));
+
+            children
+                .spawn(PbrBundle {
+                    mesh: mesh.clone(),
+                    ..default()
+                })
+                .insert(TransformBundle::from_transform(Transform {
+                    translation: Vec3::new(-1.0, 1.0, 0.0),
+                    ..default()
+                }))
+                .insert(Name::new("Child collider"))
+                .insert(Collider::cuboid(0.5, 0.5, 0.5));
+        });
+}
+
+#[derive(Component)]
+pub struct ToggleCollider;
+#[derive(Component)]
+pub struct ToggleScale;
+
+fn toggle_compound(
+    keycode: Res<Input<KeyCode>>,
+    mut commands: Commands,
+    mut collider: Query<(Entity, &mut Collider), With<ToggleCollider>>,
+    mut scale: Query<(Entity, &mut Transform), With<ToggleScale>>,
+) {
+    let new_collider = if keycode.just_pressed(KeyCode::Key1) {
+        Some(Collider::compound(vec![
+            (Vec3::ZERO, Quat::IDENTITY, Collider::cuboid(0.5, 0.5, 0.5)),
+            (
+                Vec3::new(0.0, 1.0, 0.0),
+                Quat::IDENTITY,
+                Collider::cuboid(0.5, 0.5, 0.5),
+            ),
+            (
+                Vec3::new(-1.0, 1.0, 0.0),
+                Quat::IDENTITY,
+                Collider::cuboid(0.5, 0.5, 0.5),
+            ),
+        ]))
+    } else if keycode.just_pressed(KeyCode::Key2) {
+        Some(Collider::compound(vec![
+            (Vec3::ZERO, Quat::IDENTITY, Collider::ball(0.5)),
+            (
+                Vec3::new(0.0, 1.0, 0.0),
+                Quat::IDENTITY,
+                Collider::ball(0.5),
+            ),
+            (
+                Vec3::new(-1.0, 1.0, 0.0),
+                Quat::IDENTITY,
+                Collider::ball(0.5),
+            ),
+        ]))
+    } else {
+        None
+    };
+
+    let new_scale_ratio = if keycode.just_pressed(KeyCode::T) {
+        Some(1.1)
+    } else if keycode.just_pressed(KeyCode::R) {
+        Some(0.9)
+    } else {
+        None
+    };
+
+    if let Some(new_scale_ratio) = new_scale_ratio {
+        for (entity, mut transform) in &mut scale {
+            transform.scale *= new_scale_ratio;
+            transform.scale = transform.scale.max(Vec3::new(0.1, 0.1, 0.1));
+            transform.scale = transform.scale.min(Vec3::new(5.0, 5.0, 5.0));
+        }
+    }
+
+    if let Some(new_collider) = new_collider {
+        for (entity, mut collider) in &mut collider {
+            *collider = new_collider.clone();
+        }
+    }
+}
+
 fn setup_graphics(mut commands: Commands) {
     commands.spawn(Camera3dBundle {
         transform: Transform::from_xyz(-30.0, 30.0, 100.0)
@@ -40,7 +189,7 @@ pub fn setup_physics(mut commands: Commands) {
     /*
      * Create the cubes
      */
-    let num = 8;
+    let num = 0;
     let rad = 1.0;
 
     let shift = rad * 2.0 + rad;
@@ -56,7 +205,7 @@ pub fn setup_physics(mut commands: Commands) {
         Color::hsl(260.0, 1.0, 0.7),
     ];
 
-    for j in 0usize..20 {
+    for j in 0usize..num {
         for i in 0..num {
             for k in 0usize..num {
                 let x = i as f32 * shift - centerx + offset;