Panic when pausing physics time #619
Description
The code example below panics intermittently with message "the given sine and cosine produce an invalid rotation" when pausing physics time. The values of the sin and cos arguments in the from_sin_cos function where the panic originates will be NaN. This seems to be an regression with version 0.2, as I did not have this issue in version 0.1.
Backtrace
claudijo@Claudijos-MacBook-Pro avian_error_replication % RUST_BACKTRACE=1 cargo run
Finished `dev` profile [unoptimized + debuginfo] target(s) in 0.13s
Running `target/debug/avian_error_replication`
2025-01-10T20:41:31.970501Z INFO bevy_diagnostic::system_information_diagnostics_plugin::internal: SystemInfo { os: "MacOS 14.6.1 ", kernel: "23.6.0", cpu: "Apple M3 Pro", core_count: "12", memory: "18.0 GiB" }
2025-01-10T20:41:32.040908Z INFO bevy_render::renderer: AdapterInfo { name: "Apple M3 Pro", vendor: 0, device: 0, device_type: IntegratedGpu, driver: "", driver_info: "", backend: Metal }
2025-01-10T20:41:32.531532Z INFO bevy_winit::system: Creating new window "App" (0v1#4294967296)
thread 'main' panicked at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/avian2d-0.2.0/src/position.rs:254:9:
the given sine and cosine produce an invalid rotation
stack backtrace:
0: rust_begin_unwind
at /rustc/90b35a6239c3d8bdabc530a6a0816f7ff89a0aaf/library/std/src/panicking.rs:665:5
1: core::panicking::panic_fmt
at /rustc/90b35a6239c3d8bdabc530a6a0816f7ff89a0aaf/library/core/src/panicking.rs:74:14
2: avian2d::position::Rotation::from_sin_cos
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/avian2d-0.2.0/src/position.rs:254:9
3: avian2d::position::Rotation::add_angle
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/avian2d-0.2.0/src/position.rs:436:9
4: avian2d::dynamics::solver::xpbd::positional_constraint::PositionConstraint::apply_positional_impulse
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/avian2d-0.2.0/src/dynamics/solver/xpbd/positional_constraint.rs:52:35
5: avian2d::dynamics::solver::xpbd::positional_constraint::PositionConstraint::apply_positional_lagrange_update
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/avian2d-0.2.0/src/dynamics/solver/xpbd/positional_constraint.rs:26:9
6: avian2d::dynamics::solver::joints::prismatic::PrismaticJoint::constrain_positions
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/avian2d-0.2.0/src/dynamics/solver/joints/prismatic.rs:220:9
7: <avian2d::dynamics::solver::joints::prismatic::PrismaticJoint as avian2d::dynamics::solver::xpbd::XpbdConstraint<2_usize>>::solve
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/avian2d-0.2.0/src/dynamics/solver/joints/prismatic.rs:70:22
8: avian2d::dynamics::solver::xpbd::solve_constraint
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/avian2d-0.2.0/src/dynamics/solver/xpbd/mod.rs:393:17
9: core::ops::function::FnMut::call_mut
at /Users/claudijo/.rustup/toolchains/stable-aarch64-apple-darwin/lib/rustlib/src/rust/library/core/src/ops/function.rs:166:5
10: core::ops::function::impls::<impl core::ops::function::FnMut<A> for &mut F>::call_mut
at /Users/claudijo/.rustup/toolchains/stable-aarch64-apple-darwin/lib/rustlib/src/rust/library/core/src/ops/function.rs:294:13
11: <Func as bevy_ecs::system::function_system::SystemParamFunction<fn(F0,F1,F2,F3) .> Out>>::run::call_inner
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/bevy_ecs-0.15.1/src/system/function_system.rs:1002:21
12: <Func as bevy_ecs::system::function_system::SystemParamFunction<fn(F0,F1,F2,F3) .> Out>>::run
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/bevy_ecs-0.15.1/src/system/function_system.rs:1005:17
13: <bevy_ecs::system::function_system::FunctionSystem<Marker,F> as bevy_ecs::system::system::System>::run_unsafe
at /Users/claudijo/.cargo/registry/src/index.crates.io-6f17d22bba15001f/bevy_ecs-0.15.1/src/system/function_system.rs:800:19
note: Some details are omitted, run with `RUST_BACKTRACE=full` for a verbose backtrace.
Encountered a panic in system `avian2d::dynamics::solver::xpbd::solve_constraint<avian2d::dynamics::solver::joints::prismatic::PrismaticJoint, 2>`!
Encountered a panic in system `avian2d::dynamics::solver::schedule::run_substep_schedule`!
Encountered a panic in system `avian2d::schedule::run_physics_schedule`!
Encountered a panic in system `bevy_app::main_schedule::FixedMain::run_fixed_main`!
Encountered a panic in system `bevy_time::fixed::run_fixed_main_schedule`!
Encountered a panic in system `bevy_app::main_schedule::Main::run_main`!
The smallest setup I have found that reproduces the problem includes two colliders connected with a prismatic joint and having one of the colliders rotating. The panic will occur (intermittently) when pressing the button that pauses the physics time.
use avian2d::prelude::*;
use bevy::prelude::*;
fn main() {
App::new()
.add_plugins(DefaultPlugins)
.add_plugins(PhysicsPlugins::default())
.add_plugins(PhysicsDebugPlugin::default())
.add_systems(Startup, (setup, spawn_button))
.add_systems(Update, button_interaction)
.run();
}
fn setup(mut commands: Commands) {
commands.spawn(Camera2d);
let first_collider = commands
.spawn((AngularVelocity(1.), RigidBody::Dynamic, Collider::rectangle(10., 20.)))
.id();
let second_collider = commands
.spawn((RigidBody::Dynamic, Collider::circle(10.)))
.id();
commands.spawn(PrismaticJoint::new(first_collider, second_collider));
}
fn spawn_button(mut commands: Commands) {
commands
.spawn((
Button,
Node {
width: Val::Px(150.0),
height: Val::Px(65.0),
border: UiRect::all(Val::Px(5.0)),
justify_content: JustifyContent::Center,
align_items: AlignItems::Center,
..default()
},
BorderColor(Color::BLACK),
BorderRadius::MAX,
))
.with_child((
Text::new("Pause"),
TextFont {
font_size: 33.0,
..default()
},
TextColor(Color::srgb(0.9, 0.9, 0.9)),
));
}
fn button_interaction(
mut interaction_query: Query<&Interaction, (Changed<Interaction>, With<Button>)>,
mut time: ResMut<Time<Physics>>
) {
for interaction in &mut interaction_query {
if *interaction == Interaction::Pressed {
time.pause();
}
}
}