rm muldibody example

Author: newDINO

examples3d/all_examples3.rs

@@ -45,6 +45,7 @@ mod debug_disabled3;
 mod debug_internal_edges3;
 mod debug_long_chain3;
 mod debug_multibody_ang_motor_pos3;
+mod debug_rm_multibody3;
 mod debug_sleeping_kinematic3;
 mod debug_two_cubes3;
 mod gyroscopic3;
@@ -146,6 +147,10 @@ pub fn main() {
             "(Debug) multibody ang. motor pos.",
             debug_multibody_ang_motor_pos3::init_world,
         ),
+        (
+            "(Debug) remove multibody joint",
+            debug_rm_multibody3::init_world,
+        ),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.

examples3d/debug_rm_multibody3.rs

@@ -0,0 +1,60 @@
+use rapier_testbed3d::Testbed;
+use rapier3d::prelude::*;
+
+pub fn init_world(testbed: &mut Testbed) {
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let mut multibody_joints = MultibodyJointSet::new();
+
+    let root = bodies.insert(RigidBodyBuilder::fixed());
+    colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.5, 0.5), root, &mut bodies);
+
+    let mut attached_bodies = vec![root];
+    for i in 1..4 {
+        let body = bodies.insert(RigidBodyBuilder::dynamic().translation(Vector::new(
+            0.0,
+            -2.0 * i as f32,
+            0.0,
+        )));
+        colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.5, 0.5), body, &mut bodies);
+
+        multibody_joints.insert(
+            *attached_bodies.last().unwrap(),
+            body,
+            SphericalJointBuilder::new()
+                .local_anchor1(Point::new(0.0, -2.0, 0.0))
+                .build()
+                .data,
+            true,
+        );
+        attached_bodies.push(body);
+    }
+
+    // Remove this and the example won't crash.
+    {
+        let body =
+            bodies.insert(RigidBodyBuilder::dynamic().translation(Vector::new(0.0, 2.0, 0.0)));
+        colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.5, 0.5), body, &mut bodies);
+    }
+
+    testbed.add_callback(move |graphics, physics, _, run_state| {
+        if run_state.timestep_id % 33 == 31 && attached_bodies.len() > 1 {
+            let body = attached_bodies.pop().unwrap();
+            physics.bodies.remove(
+                body,
+                &mut physics.islands,
+                &mut physics.colliders,
+                &mut physics.impulse_joints,
+                &mut physics.multibody_joints,
+                true,
+            );
+            if let Some(graphics) = graphics {
+                graphics.remove_body(body);
+            }
+        }
+    });
+
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![20.0, 0.0, 0.0], point![0.0, 0.0, 0.0]);
+}