bevy_rapier
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Published
20 hours ago •
dimforge
dimforge
Panic when using a bevy mesh as a collider, ccd enabled and scaled transform
Description
I'm getting a panic when two objects collide if one has a collider created using from_bevy_mesh and the entity has a scaled transform and the other object has ccd enabled.
thread 'main' panicked at 'internal error: entered unreachable code', C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\nonlinear_time_of_impact\nonlinear_time_of_impact_support_map_support_map.rs:201:40
Click for full traceback
thread 'main' panicked at 'internal error: entered unreachable code', C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\nonlinear_time_of_impact\nonlinear_time_of_impact_support_map_support_map.rs:201:40
stack backtrace:
0: std::panicking::begin_panic_handler
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc/library\std\src\panicking.rs:584
1: core::panicking::panic_fmt
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc/library\core\src\panicking.rs:142
2: core::panicking::panic
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc/library\core\src\panicking.rs:48
3: parry3d::query::nonlinear_time_of_impact::nonlinear_time_of_impact_support_map_support_map::compute_toi<parry3d::query::default_query_dispatcher::DefaultQueryDispatcher,parry3d::shape::ball::Ball,parry3d::shape::ball::Ball>
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\nonlinear_time_of_impact\nonlinear_time_of_impact_support_map_support_map.rs:201
4: parry3d::query::nonlinear_time_of_impact::nonlinear_time_of_impact_support_map_support_map::nonlinear_time_of_impact_support_map_support_map<parry3d::query::default_query_dispatcher::DefaultQueryDispatcher,parry3d::shape::ball::Ball,parry3d::shape::ball::
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\nonlinear_time_of_impact\nonlinear_time_of_impact_support_map_support_map.rs:81
5: parry3d::query::nonlinear_time_of_impact::nonlinear_time_of_impact_composite_shape_shape::impl$1::visit<parry3d::query::default_query_dispatcher::DefaultQueryDispatcher,dyn$<parry3d::shape::composite_shape::SimdCompositeShape> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\nonlinear_time_of_impact\nonlinear_time_of_impact_composite_shape_shape.rs:142
6: parry3d::partitioning::qbvh::qbvh::QBVH<u32>::traverse_best_first<u32,parry3d::query::nonlinear_time_of_impact::nonlinear_time_of_impact_composite_shape_shape::NonlinearTOICompositeShapeShapeBestFirstVisitor<parry3d::query::default_query_dispatcher::Defau
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\partitioning\qbvh\traversal.rs:101
7: parry3d::query::nonlinear_time_of_impact::nonlinear_time_of_impact_composite_shape_shape::nonlinear_time_of_impact_composite_shape_shape<parry3d::query::default_query_dispatcher::DefaultQueryDispatcher,dyn$<parry3d::shape::composite_shape::SimdCompositeSh
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\nonlinear_time_of_impact\nonlinear_time_of_impact_composite_shape_shape.rs:34
8: parry3d::query::nonlinear_time_of_impact::nonlinear_time_of_impact_composite_shape_shape::nonlinear_time_of_impact_shape_composite_shape<parry3d::query::default_query_dispatcher::DefaultQueryDispatcher,dyn$<parry3d::shape::composite_shape::SimdCompositeSh
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\nonlinear_time_of_impact\nonlinear_time_of_impact_composite_shape_shape.rs:54
9: parry3d::query::default_query_dispatcher::impl$0::nonlinear_time_of_impact
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\default_query_dispatcher.rs:379
10: rapier3d::dynamics::ccd::toi_entry::TOIEntry::try_from_colliders<dyn$<parry3d::query::query_dispatcher::QueryDispatcher> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\rapier3d-0.14.0\src\dynamics\ccd\toi_entry.rs:131
11: rapier3d::dynamics::ccd::ccd_solver::impl$1::predict_impacts_at_next_positions::closure$0
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\rapier3d-0.14.0\src\dynamics\ccd\ccd_solver.rs:319
12: core::ops::function::impls::impl$3::call_mut<tuple$<ref$<rapier3d::geometry::collider_components::ColliderHandle> >,rapier3d::dynamics::ccd::ccd_solver::impl$1::predict_impacts_at_next_positions::closure_env$0>
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\ops\function.rs:290
13: parry3d::query::visitors::bounding_volume_intersections_visitor::impl$1::visit<rapier3d::geometry::collider_components::ColliderHandle,ref_mut$<rapier3d::dynamics::ccd::ccd_solver::impl$1::predict_impacts_at_next_positions::closure_env$0> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\query\visitors\bounding_volume_intersections_visitor.rs:42
14: parry3d::partitioning::qbvh::qbvh::QBVH<rapier3d::geometry::collider_components::ColliderHandle>::traverse_depth_first_with_stack<rapier3d::geometry::collider_components::ColliderHandle,parry3d::query::visitors::bounding_volume_intersections_visitor::Boun
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\partitioning\qbvh\traversal.rs:43
15: parry3d::partitioning::qbvh::qbvh::QBVH<rapier3d::geometry::collider_components::ColliderHandle>::traverse_depth_first<rapier3d::geometry::collider_components::ColliderHandle,parry3d::query::visitors::bounding_volume_intersections_visitor::BoundingVolumeI
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\parry3d-0.9.0\src\partitioning\qbvh\traversal.rs:19
16: rapier3d::pipeline::query_pipeline::QueryPipeline::colliders_with_aabb_intersecting_aabb<rapier3d::dynamics::ccd::ccd_solver::impl$1::predict_impacts_at_next_positions::closure_env$0>
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\rapier3d-0.14.0\src\pipeline\query_pipeline.rs:683
17: rapier3d::dynamics::ccd::ccd_solver::CCDSolver::predict_impacts_at_next_positions
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\rapier3d-0.14.0\src\dynamics\ccd\ccd_solver.rs:283
18: rapier3d::pipeline::physics_pipeline::PhysicsPipeline::run_ccd_motion_clamping
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\rapier3d-0.14.0\src\pipeline\physics_pipeline.rs:329
19: rapier3d::pipeline::physics_pipeline::PhysicsPipeline::step
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\rapier3d-0.14.0\src\pipeline\physics_pipeline.rs:562
20: bevy_rapier3d::plugin::context::RapierContext::step_simulation
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_rapier3d-0.16.0\src\plugin\context.rs:237
21: bevy_rapier3d::plugin::systems::step_simulation<tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_rapier3d-0.16.0\src\plugin\systems.rs:603
22: core::ops::function::FnMut::call_mut<void (*)(bevy_ecs::change_detection::ResMut<bevy_rapier3d::plugin::context::RapierContext>,bevy_ecs::system::system_param::Res<bevy_rapier3d::plugin::configuration::RapierConfiguration>,bevy_ecs::system::system_param::
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\ops\function.rs:164
23: core::ops::function::impls::impl$3::call_mut<tuple$<bevy_ecs::change_detection::ResMut<bevy_rapier3d::plugin::context::RapierContext>,bevy_ecs::system::system_param::Res<bevy_rapier3d::plugin::configuration::RapierConfiguration>,bevy_ecs::system::system_p
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\ops\function.rs:290
24: bevy_ecs::system::function_system::impl$30::run::call_inner<tuple$<>,bevy_ecs::change_detection::ResMut<bevy_rapier3d::plugin::context::RapierContext>,bevy_ecs::system::system_param::Res<bevy_rapier3d::plugin::configuration::RapierConfiguration>,bevy_ecs:
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_ecs-0.8.0\src\system\function_system.rs:564
25: bevy_ecs::system::function_system::impl$30::run<tuple$<>,void (*)(bevy_ecs::change_detection::ResMut<bevy_rapier3d::plugin::context::RapierContext>,bevy_ecs::system::system_param::Res<bevy_rapier3d::plugin::configuration::RapierConfiguration>,bevy_ecs::sy
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_ecs-0.8.0\src\system\function_system.rs:567
26: bevy_ecs::system::function_system::impl$6::run_unsafe<tuple$<>,tuple$<>,tuple$<bevy_ecs::change_detection::ResMut<bevy_rapier3d::plugin::context::RapierContext>,bevy_ecs::system::system_param::Res<bevy_rapier3d::plugin::configuration::RapierConfiguration>
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_ecs-0.8.0\src\system\function_system.rs:403
27: bevy_ecs::schedule::executor_parallel::impl$2::prepare_systems::async_block$0
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_ecs-0.8.0\src\schedule\executor_parallel.rs:194
28: core::future::from_generator::impl$1::poll<enum$<bevy_ecs::schedule::executor_parallel::impl$2::prepare_systems::async_block_env$0> >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\future\mod.rs:91
29: async_executor::impl$4::spawn::async_block$0<tuple$<>,core::future::from_generator::GenFuture<enum$<bevy_ecs::schedule::executor_parallel::impl$2::prepare_systems::async_block_env$0> > >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\async-executor-1.4.1\src\lib.rs:144
30: core::future::from_generator::impl$1::poll<enum$<async_executor::impl$4::spawn::async_block_env$0<tuple$<>,core::future::from_generator::GenFuture<enum$<bevy_ecs::schedule::executor_parallel::impl$2::prepare_systems::async_block_env$0> > > > >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\future\mod.rs:91
31: async_task::raw::RawTask<core::future::from_generator::GenFuture<enum$<async_executor::impl$4::spawn::async_block_env$0<tuple$<>,core::future::from_generator::GenFuture<enum$<bevy_ecs::schedule::executor_parallel::impl$2::prepare_systems::async_block_env$
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\async-task-4.3.0\src\raw.rs:511
32: async_task::runnable::Runnable::run
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\async-task-4.3.0\src\runnable.rs:309
33: async_executor::Executor::try_tick
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\async-executor-1.4.1\src\lib.rs:181
34: bevy_tasks::task_pool::impl$1::scope::closure$0<bevy_ecs::schedule::executor_parallel::impl$1::run_systems::closure_env$0,tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_tasks-0.8.0\src\task_pool.rs:201
35: std::thread::local::LocalKey<async_executor::LocalExecutor>::try_with<async_executor::LocalExecutor,bevy_tasks::task_pool::impl$1::scope::closure_env$0<bevy_ecs::schedule::executor_parallel::impl$1::run_systems::closure_env$0,tuple$<> >,alloc::vec::Vec<tu
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\std\src\thread\local.rs:445
36: std::thread::local::LocalKey<async_executor::LocalExecutor>::with<async_executor::LocalExecutor,bevy_tasks::task_pool::impl$1::scope::closure_env$0<bevy_ecs::schedule::executor_parallel::impl$1::run_systems::closure_env$0,tuple$<> >,alloc::vec::Vec<tuple$
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\std\src\thread\local.rs:421
37: bevy_tasks::task_pool::TaskPool::scope<bevy_ecs::schedule::executor_parallel::impl$1::run_systems::closure_env$0,tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_tasks-0.8.0\src\task_pool.rs:148
38: bevy_ecs::schedule::executor_parallel::impl$1::run_systems
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_ecs-0.8.0\src\schedule\executor_parallel.rs:126
39: bevy_ecs::schedule::stage::impl$1::run
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_ecs-0.8.0\src\schedule\stage.rs:884
40: bevy_ecs::schedule::Schedule::run_once
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_ecs-0.8.0\src\schedule\mod.rs:342
41: bevy_ecs::schedule::impl$1::run
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_ecs-0.8.0\src\schedule\mod.rs:360
42: bevy_app::app::App::update
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_app-0.8.0\src\app.rs:119
43: bevy_winit::winit_runner_with::closure$0
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_winit-0.8.0\src\lib.rs:618
44: winit::platform_impl::platform::event_loop::impl$2::run_return::closure$0<tuple$<>,bevy_winit::winit_runner_with::closure_env$0>
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop.rs:206
45: alloc::boxed::impl$45::call_mut<tuple$<enum$<winit::event::Event<tuple$<> > >,ref_mut$<enum$<winit::event_loop::ControlFlow> > >,dyn$<core::ops::function::FnMut<tuple$<enum$<winit::event::Event<tuple$<> > >,ref_mut$<enum$<winit::event_loop::ControlFlow> >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\alloc\src\boxed.rs:1879
46: winit::platform_impl::platform::event_loop::runner::impl$3::call_event_handler::closure$0<tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop\runner.rs:245
47: core::panic::unwind_safe::impl$23::call_once<tuple$<>,winit::platform_impl::platform::event_loop::runner::impl$3::call_event_handler::closure_env$0<tuple$<> > >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\panic\unwind_safe.rs:271
48: std::panicking::try::do_call<core::panic::unwind_safe::AssertUnwindSafe<winit::platform_impl::platform::event_loop::runner::impl$3::call_event_handler::closure_env$0<tuple$<> > >,tuple$<> >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\std\src\panicking.rs:492
49: hashbrown::raw::sse2::Group::load
50: std::panicking::try<tuple$<>,core::panic::unwind_safe::AssertUnwindSafe<winit::platform_impl::platform::event_loop::runner::impl$3::call_event_handler::closure_env$0<tuple$<> > > >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\std\src\panicking.rs:456
51: std::panic::catch_unwind<core::panic::unwind_safe::AssertUnwindSafe<winit::platform_impl::platform::event_loop::runner::impl$3::call_event_handler::closure_env$0<tuple$<> > >,tuple$<> >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\std\src\panic.rs:137
52: winit::platform_impl::platform::event_loop::runner::EventLoopRunner<tuple$<> >::catch_unwind<tuple$<>,tuple$<>,winit::platform_impl::platform::event_loop::runner::impl$3::call_event_handler::closure_env$0<tuple$<> > >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop\runner.rs:152
53: winit::platform_impl::platform::event_loop::runner::EventLoopRunner<tuple$<> >::call_event_handler<tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop\runner.rs:239
54: winit::platform_impl::platform::event_loop::runner::EventLoopRunner<tuple$<> >::move_state_to<tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop\runner.rs:341
55: winit::platform_impl::platform::event_loop::runner::EventLoopRunner<tuple$<> >::main_events_cleared<tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop\runner.rs:227
56: winit::platform_impl::platform::event_loop::flush_paint_messages<tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop.rs:726
57: winit::platform_impl::platform::event_loop::thread_event_target_callback::closure$0<tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop.rs:2091
58: core::ops::function::FnOnce::call_once<winit::platform_impl::platform::event_loop::thread_event_target_callback::closure_env$0<tuple$<> >,tuple$<> >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\ops\function.rs:248
59: core::panic::unwind_safe::impl$23::call_once<isize,winit::platform_impl::platform::event_loop::thread_event_target_callback::closure_env$0<tuple$<> > >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\panic\unwind_safe.rs:271
60: std::panicking::try::do_call<core::panic::unwind_safe::AssertUnwindSafe<winit::platform_impl::platform::event_loop::thread_event_target_callback::closure_env$0<tuple$<> > >,isize>
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\std\src\panicking.rs:492
61: hashbrown::raw::sse2::Group::load
62: std::panicking::try<isize,core::panic::unwind_safe::AssertUnwindSafe<winit::platform_impl::platform::event_loop::thread_event_target_callback::closure_env$0<tuple$<> > > >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\std\src\panicking.rs:456
63: std::panic::catch_unwind<core::panic::unwind_safe::AssertUnwindSafe<winit::platform_impl::platform::event_loop::thread_event_target_callback::closure_env$0<tuple$<> > >,isize>
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\std\src\panic.rs:137
64: winit::platform_impl::platform::event_loop::runner::EventLoopRunner<tuple$<> >::catch_unwind<tuple$<>,isize,winit::platform_impl::platform::event_loop::thread_event_target_callback::closure_env$0<tuple$<> > >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop\runner.rs:152
65: winit::platform_impl::platform::event_loop::thread_event_target_callback<tuple$<> >
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop.rs:2271
66: CallWindowProcW
67: EnumChildWindows
68: IsIconic
69: KiUserCallbackDispatcher
70: NtUserDispatchMessage
71: DispatchMessageW
72: winit::platform_impl::platform::event_loop::EventLoop<tuple$<> >::run_return<tuple$<>,bevy_winit::winit_runner_with::closure_env$0>
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop.rs:221
73: winit::platform_impl::platform::event_loop::EventLoop<tuple$<> >::run<tuple$<>,bevy_winit::winit_runner_with::closure_env$0>
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\platform_impl\windows\event_loop.rs:191
74: winit::event_loop::EventLoop<tuple$<> >::run<tuple$<>,bevy_winit::winit_runner_with::closure_env$0>
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\winit-0.26.1\src\event_loop.rs:154
75: bevy_winit::run<bevy_winit::winit_runner_with::closure_env$0>
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_winit-0.8.0\src\lib.rs:240
76: bevy_winit::winit_runner_with
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_winit-0.8.0\src\lib.rs:663
77: bevy_winit::winit_runner
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_winit-0.8.0\src\lib.rs:280
78: core::ops::function::Fn::call<void (*)(bevy_app::app::App),tuple$<bevy_app::app::App> >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\ops\function.rs:77
79: alloc::boxed::impl$46::call<tuple$<bevy_app::app::App>,dyn$<core::ops::function::Fn<tuple$<bevy_app::app::App>,assoc$<Output,tuple$<> > > >,alloc::alloc::Global>
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\alloc\src\boxed.rs:1886
80: bevy_app::app::App::run
at C:\Users\Paul\.cargo\registry\src\github.com-1ecc6299db9ec823\bevy_app-0.8.0\src\app.rs:135
81: bevy_rapier_ccd_unreachable_bug::main
at .\src\main.rs:5
82: core::ops::function::FnOnce::call_once<void (*)(),tuple$<> >
at /rustc/a8314ef7d0ec7b75c336af2c9857bfaf43002bfc\library\core\src\ops\function.rs:248
My use case is I have an asteroid field that has randomly placed asteroids with random scales. I have a custom collider mesh for the asteroids and I want my bullets that shoot the asteroids to use ccd so they don't go through the asteroids.
System
Windows 11 Bevy 0.8 bevy_rapier3d 0.16 (also main branch)
Minimal reproduction
This code demonstrates the error, it creates a fixed rigid body using a bevy mesh as a collider and a transform scaled to 2X, then creates a dynamic rigid body with ccd enabled and sends it at it with a high velocity.
use bevy::prelude::*;
use bevy_rapier3d::prelude::*;
fn main() {
App::new()
.add_plugins(DefaultPlugins)
.add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
.add_startup_system(setup)
.run();
}
fn setup(mut commands: Commands) {
commands
.spawn()
.insert_bundle(TransformBundle::from_transform(
Transform::from_xyz(0.0, 0.0, 20.0)
// Commenting out this line it no longer panics
.with_scale(Vec3::splat(2.0)),
))
.insert(
// If you use a different collider that isn't a bevy mesh here it no longer panics
Collider::from_bevy_mesh(
&Mesh::from(shape::Cube { size: 3.0 }),
&ComputedColliderShape::TriMesh,
)
.unwrap(),
)
.insert(RigidBody::Fixed);
commands
.spawn()
.insert(Collider::ball(1.0))
.insert(RigidBody::Dynamic)
// Commenting out this line it no longer panics
.insert(Ccd::enabled())
.insert(Velocity::linear(Vec3::Z * 10000.0));
}
I think there's a regression in rapier 0.21. Getting this error for the first time now in an otherwise unchanged codebase (other than upgrading to Bevy 0.10) Interestingly, it only happens on Wasm and not native.
Just tried this again to see if anything has changed with the new versions and the example I provided still consistently panics, hitting this unreachable!() line.
Here's an updated example:
[dependencies]
bevy = "0.10.0"
bevy_rapier3d = "0.21.0"
use bevy::prelude::*;
use bevy_rapier3d::prelude::*;
fn main() {
App::new()
.add_plugins(DefaultPlugins)
.add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
.add_startup_system(setup)
.run();
}
fn setup(mut commands: Commands) {
commands.spawn((
TransformBundle::from_transform(
Transform::from_xyz(0.0, 0.0, 20.0)
// Commenting out this line it no longer panics
.with_scale(Vec3::splat(2.0)),
),
// If you use a different collider that isn't a bevy mesh here it no longer panics
Collider::from_bevy_mesh(
&Mesh::from(shape::Cube { size: 3.0 }),
&ComputedColliderShape::TriMesh,
)
.unwrap(),
RigidBody::Fixed,
));
commands.spawn((
Collider::ball(1.0),
RigidBody::Dynamic,
// Commenting out this line it no longer panics
// Ccd::enabled(),
Velocity::linear(Vec3::Z * 10000.0),
));
}
It only happens when i use ComputedColliderShape::TriMesh, if i switch to ComputedColliderShape::ConvexDecomposition(VHACDParameters::default()), it stops
Have the same issue with CCD and TriMesh (and WASM):
bevy = "0.13.0" bevy_rapier3d = { version = "0.25.0", features = [ "enhanced-determinism", "debug-render-3d", "wasm-bindgen", "serde-serialize" ] }
parry3d-0.13.6/src/query/nonlinear_time_of_impact/nonlinear_time_of_impact_support_map_support_map.rs:201:40:
internal error: entered unreachable code
Recent duplicate here: https://github.com/dimforge/bevy_rapier/issues/386
