fix precision issue (#82)

src/rapier2d-wrapper/includes/rapier2d_wrapper.h

@@ -530,8 +530,7 @@ Handle shape_create_halfspace(const Vector *normal, Real pixel_distance);
 
 void shape_destroy(Handle shape_handle);
 
-ContactResult shapes_contact(Handle world_handle,
-		ShapeInfo shape_info1,
+ContactResult shapes_contact(ShapeInfo shape_info1,
 		ShapeInfo shape_info2,
 		Real pixel_margin);
 

src/rapier2d-wrapper/src/body.rs

@@ -41,7 +41,6 @@ pub extern "C" fn body_create(world_handle : Handle, pixel_pos : &Vector, rot :
         }
     }
 	// let default values better
-    let activation = rigid_body.activation_mut();
     set_rigid_body_properties_internal(&mut rigid_body, pixel_pos, rot, true);
 	rigid_body.user_data = user_data.get_data();
     let body_handle = physics_world.rigid_body_set.insert(rigid_body);
@@ -211,9 +210,7 @@ pub extern "C" fn body_set_can_sleep(world_handle : Handle, body_handle : Handle
     assert!(body.is_some());
     let body = body.unwrap();
 
-    if can_sleep && body.activation().angular_threshold == -1.0 {
-		let activation = body.activation_mut();
-    } else if !can_sleep && body.activation().angular_threshold != -1.0 {
+    if !can_sleep && body.activation().angular_threshold != -1.0 {
 		let activation = body.activation_mut();
         activation.angular_threshold = -1.0;
         activation.linear_threshold = -1.0;

src/rapier2d-wrapper/src/convert.rs

@@ -1,20 +1,23 @@
 use rapier2d::prelude::*;
 use crate::vector::Vector;
 
-const PIXELS_PER_METER : Real = 1.0;
+const PIXELS_PER_METER : f64 = 128.0;
+const METERS_PER_PIXEL : f64 = 1.0 / 128.0;
 
 pub fn pixels_to_meters(x : Real) -> Real {
-    return x;
-    if x == 0.0 { 0.0 } else { x / PIXELS_PER_METER }
+    if x == 0.0 { 0.0 } else { 
+        let res = METERS_PER_PIXEL * (x as f64);
+        return res as Real;
+    }
 }
 
 pub fn vector_pixels_to_meters(v : &Vector) -> Vector {
     Vector{x: pixels_to_meters(v.x), y: pixels_to_meters(v.y)}
 }
 
 pub fn meters_to_pixels(x : Real) -> Real {
-    return x;
-    x * PIXELS_PER_METER
+    let res = PIXELS_PER_METER * (x as f64);
+    return res as Real;
 }
 
 pub fn vector_meters_to_pixels(v : &Vector) -> Vector {

src/rapier2d-wrapper/src/query.rs

@@ -426,7 +426,7 @@ pub extern "C" fn intersect_aabb(world_handle : Handle, pixel_aabb_min : &Vector
 }
 
 #[no_mangle]
-pub extern "C" fn shapes_contact(world_handle : Handle, shape_info1 : ShapeInfo, shape_info2 : ShapeInfo, pixel_margin: Real) -> ContactResult {
+pub extern "C" fn shapes_contact(shape_info1 : ShapeInfo, shape_info2 : ShapeInfo, pixel_margin: Real) -> ContactResult {
     let position1 = vector_pixels_to_meters(&shape_info1.pixel_position);
     let position2 = vector_pixels_to_meters(&shape_info2.pixel_position);
     let margin = pixels_to_meters(pixel_margin);

src/servers/rapier_body_utils_2d.cpp

@@ -90,7 +90,7 @@ bool RapierBodyUtils2D::body_motion_recover(
 				rapier2d::ShapeInfo col_shape_info =
 						rapier2d::shape_info_from_body_shape(col_shape->get_rapier_shape(), col_shape_transform);
 
-				rapier2d::ContactResult contact = rapier2d::shapes_contact(p_space.get_handle(), body_shape_info, col_shape_info, p_margin);
+				rapier2d::ContactResult contact = rapier2d::shapes_contact(body_shape_info, col_shape_info, p_margin);
 
 				if (!contact.collided) {
 					continue;
@@ -187,7 +187,7 @@ void RapierBodyUtils2D::cast_motion(const RapierSpace2D &p_space, RapierBody2D &
 			rapier2d::ShapeInfo col_shape_info = rapier2d::shape_info_from_body_shape(col_shape->get_rapier_shape(), col_shape_transform);
 			// stuck logic, check if body collides in place
 			body_shape_info.pixel_position = { (body_shape_transform.get_origin()).x, (body_shape_transform.get_origin()).y };
-			rapier2d::ContactResult step_contact = rapier2d::shapes_contact(p_space.get_handle(), body_shape_info, col_shape_info, 0.0);
+			rapier2d::ContactResult step_contact = rapier2d::shapes_contact(body_shape_info, col_shape_info, 0.0);
 			if (step_contact.collided && !step_contact.within_margin) {
 				if (body_shape->allows_one_way_collision() && collision_body->is_shape_set_as_one_way_collision(shape_index)) {
 					Vector2 direction = col_shape_transform.columns[1].normalized();
@@ -211,7 +211,7 @@ void RapierBodyUtils2D::cast_motion(const RapierSpace2D &p_space, RapierBody2D &
 
 				body_shape_info.pixel_position = rapier2d::Vector{ (body_shape_transform.get_origin() + p_motion * fraction).x,
 					(body_shape_transform.get_origin() + p_motion * fraction).y };
-				rapier2d::ContactResult step_contact = rapier2d::shapes_contact(p_space.get_handle(), body_shape_info, col_shape_info, 0.0);
+				rapier2d::ContactResult step_contact = rapier2d::shapes_contact(body_shape_info, col_shape_info, 0.0);
 				if (step_contact.collided && !step_contact.within_margin) {
 					hi = fraction;
 					if ((k == 0) || (low > 0.0)) { // Did it not collide before?
@@ -239,7 +239,7 @@ void RapierBodyUtils2D::cast_motion(const RapierSpace2D &p_space, RapierBody2D &
 			body_shape_info.pixel_position =
 					rapier2d::Vector{ (body_shape_transform.get_origin() + p_motion * (hi + contact_max_allowed_penetration)).x,
 						(body_shape_transform.get_origin() + p_motion * (hi + contact_max_allowed_penetration)).y };
-			rapier2d::ContactResult contact = rapier2d::shapes_contact(p_space.get_handle(), body_shape_info, col_shape_info, 0.0);
+			rapier2d::ContactResult contact = rapier2d::shapes_contact(body_shape_info, col_shape_info, 0.0);
 			if (should_skip_collision_one_dir(contact, body_shape, collision_body, shape_index, col_shape_transform, p_margin, p_space.get_last_step(), p_motion)) {
 				continue;
 			}
@@ -313,7 +313,7 @@ bool RapierBodyUtils2D::body_motion_collide(const RapierSpace2D &p_space, Rapier
 			Transform2D const &col_shape_transform = collision_body->get_transform() * collision_body->get_shape_transform(shape_index);
 			rapier2d::ShapeInfo col_shape_info = rapier2d::shape_info_from_body_shape(col_shape->get_rapier_shape(), col_shape_transform);
 
-			rapier2d::ContactResult contact = rapier2d::shapes_contact(p_space.get_handle(), body_shape_info, col_shape_info, p_margin);
+			rapier2d::ContactResult contact = rapier2d::shapes_contact(body_shape_info, col_shape_info, p_margin);
 			if (!contact.collided) {
 				continue;
 			}