feat: update to rapier 0.18

Cargo.toml

@@ -18,10 +18,10 @@ salva3d = { path = "./build/salva3d" }
 #rapier_testbed2d = { git = "https://github.com/dimforge/rapier", branch = "split_geom"  }
 #rapier_testbed3d = { git = "https://github.com/dimforge/rapier", branch = "split_geom"  }
 
-rapier2d = { git = "https://github.com/dimforge/rapier" }
-rapier3d = { git = "https://github.com/dimforge/rapier" }
-rapier_testbed2d = { git = "https://github.com/dimforge/rapier" }
-rapier_testbed3d = { git = "https://github.com/dimforge/rapier" }
+#rapier2d = { git = "https://github.com/dimforge/rapier" }
+#rapier3d = { git = "https://github.com/dimforge/rapier" }
+#rapier_testbed2d = { git = "https://github.com/dimforge/rapier" }
+#rapier_testbed3d = { git = "https://github.com/dimforge/rapier" }
 
 # rapier2d = { git = "https://github.com/dimforge/rapier", rev = "3b0d256" }
 # rapier3d = { git = "https://github.com/dimforge/rapier", rev = "3b0d256" }

build/salva2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "salva2d"
-version = "0.8.0"
+version = "0.9.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "2-dimensional particle-based fluid dynamics in Rust."
 documentation = "https://salva.rs/docs"
@@ -43,8 +43,8 @@ rayon = { version = "1.8", optional = true }
 
 nalgebra  = "0.32"
 parry2d = { version = "0.13", optional = true }
-rapier2d = { version = "0.17", optional = true }
-rapier_testbed2d = { version = "0.17", optional = true }
+rapier2d = { version = "0.18", optional = true }
+rapier_testbed2d = { version = "0.18", optional = true }
 
 bevy_egui = { version = "0.23", features = ["immutable_ctx"], optional = true }
 

build/salva3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "salva3d"
-version = "0.8.0"
+version = "0.9.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "3-dimensional particle-based fluid dynamics in Rust."
 documentation = "https://salva.rs/rustdoc/salva3d/index.html"
@@ -39,8 +39,8 @@ rayon = { version = "1.8", optional = true }
 
 nalgebra  = "0.32"
 parry3d = { version = "0.13", optional = true }
-rapier3d = { version = "0.17", optional = true }
-rapier_testbed3d = { version = "0.17", optional = true }
+rapier3d = { version = "0.18", optional = true }
+rapier_testbed3d = { version = "0.18", optional = true }
 
 bevy_egui = { version = "0.23", features = ["immutable_ctx"], optional = true }
 

examples2d/Cargo.toml

@@ -12,8 +12,8 @@ parallel = [ "rapier_testbed2d/parallel"]
 Inflector  = "0.11"
 nalgebra   = "0.32"
 parry2d = "0.13"
-rapier2d = "0.17"
-rapier_testbed2d = "0.17"
+rapier2d = "0.18"
+rapier_testbed2d = "0.18"
 parry3d = "0.13"
 bevy = "0.12.1"
 

examples2d/basic2.rs

@@ -100,7 +100,7 @@ pub fn init_world(testbed: &mut Testbed) {
     );
 
     /*
-     * Create a dynamic box.
+     * Create a dynamic rigid-bodies.
      */
     let rad = 0.4;
     let mut build_rigid_body_with_coupling = |x, y, collider: Collider| {
@@ -109,8 +109,8 @@ pub fn init_world(testbed: &mut Testbed) {
         let rb = RigidBodyBuilder::dynamic()
             .translation(Vector2::new(x, y))
             .build();
-        let _rb_handle = bodies.insert(rb);
-        let co_handle = colliders.insert(collider);
+        let rb_handle = bodies.insert(rb);
+        let co_handle = colliders.insert_with_parent(collider, rb_handle, &mut bodies);
         let bo_handle = fluids_pipeline
             .liquid_world
             .add_boundary(Boundary::new(Vec::new()));

examples2d/elasticity2.rs

@@ -63,9 +63,9 @@ pub fn init_world(testbed: &mut Testbed) {
     plugin.set_fluid_color(fluid_handle, Point3::new(0.6, 0.8, 0.5));
 
     // Setup the ground.
-    bodies.insert(RigidBodyBuilder::fixed().build());
+    let ground_handle = bodies.insert(RigidBodyBuilder::fixed().build());
     let co = ColliderBuilder::cuboid(ground_half_width, ground_thickness).build();
-    let co_handle = colliders.insert(co);
+    let co_handle = colliders.insert_with_parent(co, ground_handle, &mut bodies);
     let bo_handle = fluids_pipeline
         .liquid_world
         .add_boundary(Boundary::new(Vec::new()));

examples2d/surface_tension2.rs

@@ -45,9 +45,9 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_thickness = 0.02;
     let ground_half_width = 0.15;
 
-    bodies.insert(RigidBodyBuilder::fixed().build());
+    let ground_handle = bodies.insert(RigidBodyBuilder::fixed().build());
     let co = ColliderBuilder::cuboid(ground_half_width, ground_thickness).build();
-    let co_handle = colliders.insert(co);
+    let co_handle = colliders.insert_with_parent(co, ground_handle, &mut bodies);
     let bo_handle = fluids_pipeline
         .liquid_world
         .add_boundary(Boundary::new(Vec::new()));

examples3d/Cargo.toml

@@ -12,8 +12,8 @@ parallel = [ "rapier_testbed3d/parallel", "salva3d/parallel"]
 num-traits = "0.2"
 Inflector  = "0.11"
 nalgebra   = "0.32"
-rapier3d = "0.17"
-rapier_testbed3d = "0.17"
+rapier3d = "0.18"
+rapier_testbed3d = "0.18"
 parry3d = "0.13"
 bevy = "0.12.1"
 

examples3d/elasticity3.rs

@@ -80,7 +80,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let ground_handle = bodies.insert(RigidBodyBuilder::fixed().build());
     let co =
         ColliderBuilder::cuboid(ground_half_width, ground_thickness, ground_half_width).build();
-    let co_handle = colliders.insert(co);
+    let co_handle = colliders.insert_with_parent(co, ground_handle, &mut bodies);
     let bo_handle = fluids_pipeline
         .liquid_world
         .add_boundary(Boundary::new(Vec::new()));

examples3d/faucet3.rs

@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let co = ColliderBuilder::ball(ground_rad).build();
     let ball_samples =
         salva3d::sampling::shape_surface_ray_sample(co.shape(), PARTICLE_RADIUS).unwrap();
-    let co_handle = colliders.insert(co);
+    let co_handle = colliders.insert_with_parent(co, ground_handle, &mut bodies);
     let bo_handle = fluids_pipeline
         .liquid_world
         .add_boundary(Boundary::new(Vec::new()));

examples3d/surface_tension3.rs

@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let co =
         ColliderBuilder::cuboid(ground_half_width, ground_thickness, ground_half_width).build();
-    let co_handle = colliders.insert(co);
+    let co_handle = colliders.insert_with_parent(co, ground_handle, &mut bodies);
     let bo_handle = fluids_pipeline
         .liquid_world
         .add_boundary(Boundary::new(Vec::new()));

src/coupling/coupling_manager.rs

@@ -24,7 +24,7 @@ pub trait CouplingManager {
     );
 
     /// Transmit forces from salva's boundary objects to the coupled bodies.
-    fn transmit_forces(&mut self, boundaries: &BoundarySet);
+    fn transmit_forces(&mut self, timestep: &TimestepManager, boundaries: &BoundarySet);
 }
 
 impl CouplingManager for () {
@@ -39,5 +39,5 @@ impl CouplingManager for () {
     ) {
     }
 
-    fn transmit_forces(&mut self, _: &BoundarySet) {}
+    fn transmit_forces(&mut self, _: &TimestepManager, _: &BoundarySet) {}
 }

src/integrations/rapier/fluids_pipeline.rs

@@ -260,7 +260,7 @@ impl<'a> CouplingManager for ColliderCouplingManager<'a> {
         }
     }
 
-    fn transmit_forces(&mut self, boundaries: &BoundarySet) {
+    fn transmit_forces(&mut self, timestep: &TimestepManager, boundaries: &BoundarySet) {
         for (collider, coupling) in &self.coupling.entries {
             if let (Some(collider), Some(boundary)) = (
                 self.colliders.get(*collider),
@@ -277,7 +277,7 @@ impl<'a> CouplingManager for ColliderCouplingManager<'a> {
                             for (pos, force) in
                                 boundary.positions.iter().zip(forces.iter().cloned())
                             {
-                                body.add_force_at_point(force, *pos, true)
+                                body.apply_impulse_at_point(force * timestep.dt(), *pos, true)
                             }
                         }
                     }

src/liquid_world.rs

@@ -143,7 +143,7 @@ impl LiquidWorld {
                 self.boundaries.as_slice(),
             );
 
-            coupling.transmit_forces(&self.boundaries);
+            coupling.transmit_forces(&self.timestep_manager, &self.boundaries);
             self.counters.stages.solver_time.pause();
         }