nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy + release v0.32.0 (#909)

Browse Source 
* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy

* chore: update changelog

* Fix warnings and tests

* Release v0.32.0
This commit is contained in:
Sébastien Crozet
2026-01-09 17:26:36 +01:00
committed by GitHub
parent 48de83817e
commit 0b7c3b34ec
265 changed files with 8501 additions and 8575 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
examples2d/utils/character.rs
View File

@@ -1,7 +1,7 @@
use rapier_testbed2d::ui::egui::Align2;
use kiss3d::color::Color;
use rapier_testbed2d::{
KeyCode, PhysicsState, TestbedGraphics,
ui::egui::{ComboBox, Slider, Ui, Window},
egui::{Align2, ComboBox, Slider, Ui, Window},
};
use rapier2d::{
control::{CharacterLength, KinematicCharacterController, PidController},
@@ -51,24 +51,24 @@ fn character_movement_from_inputs(
gfx: &TestbedGraphics,
mut speed: Real,
artificial_gravity: bool,
) -> Vector<Real> {
let mut desired_movement = Vector::zeros();
) -> Vector {
let mut desired_movement = Vector::ZERO;
for key in gfx.keys().get_pressed() {
match *key {
KeyCode::ArrowRight => {
desired_movement += Vector::x();
KeyCode::Right => {
desired_movement += Vector::X;
}
KeyCode::ArrowLeft => {
desired_movement -= Vector::x();
KeyCode::Left => {
desired_movement -= Vector::X;
}
KeyCode::Space => {
desired_movement += Vector::y() * 2.0;
desired_movement += Vector::Y * 2.0;
}
KeyCode::ControlRight => {
desired_movement -= Vector::y();
KeyCode::RControl => {
desired_movement -= Vector::Y;
}
KeyCode::ShiftRight => {
KeyCode::RShift => {
speed /= 10.0;
}
_ => {}
@@ -78,7 +78,7 @@ fn character_movement_from_inputs(
desired_movement *= speed;
if artificial_gravity {
desired_movement -= Vector::y() * speed;
desired_movement -= Vector::Y * speed;
}
desired_movement
@@ -97,11 +97,11 @@ fn update_pid_controller(
// Adjust the controlled axis depending on the keys pressed by the user.
// - If the user is jumping, enable control over Y.
// - If the user isn’t pressing any key, disable all linear controls to let
// - If the user isn't pressing any key, disable all linear controls to let
// gravity/collision do their thing freely.
let mut axes = AxesMask::ANG_Z;
if desired_movement.norm() != 0.0 {
if desired_movement.length() != 0.0 {
axes |= if desired_movement.y == 0.0 {
AxesMask::LIN_X
} else {
@@ -114,7 +114,7 @@ fn update_pid_controller(
let corrective_vel = pid.rigid_body_correction(
phx.integration_parameters.dt,
character_body,
(character_body.translation() + desired_movement).into(),
Pose::from_translation(character_body.translation() + desired_movement),
RigidBodyVelocity::zero(),
);
let new_vel = *character_body.vels() + corrective_vel;
@@ -150,14 +150,14 @@ fn update_kinematic_controller(
&query_pipeline.as_ref(),
&*character_shape,
&character_collider_pose,
desired_movement.cast::<Real>(),
desired_movement,
|c| collisions.push(c),
);
if mvt.grounded {
gfx.set_body_color(character_handle, [0.1, 0.8, 0.1]);
gfx.set_body_color(character_handle, Color::new(0.1, 0.8, 0.1, 1.0), false);
} else {
gfx.set_body_color(character_handle, [0.8, 0.1, 0.1]);
gfx.set_body_color(character_handle, Color::new(0.8, 0.1, 0.1, 1.0), false);
}
controller.solve_character_collision_impulses(
@@ -170,7 +170,7 @@ fn update_kinematic_controller(
let character_body = &mut phx.bodies[character_handle];
let pose = character_body.position();
character_body.set_next_kinematic_translation(pose.translation.vector + mvt.translation);
character_body.set_next_kinematic_translation(pose.translation + mvt.translation);
}
fn character_control_ui(
@@ -181,7 +181,7 @@ fn character_control_ui(
) {
Window::new("Character Control")
.anchor(Align2::RIGHT_TOP, [-15.0, 15.0])
.show(gfx.ui_context_mut().ctx_mut(), |ui| {
.show(gfx.egui_context(), |ui| {
ComboBox::from_label("control mode")
.selected_text(format!("{:?}", *control_mode))
.show_ui(ui, |ui| {
@@ -220,9 +220,9 @@ fn pid_control_ui(ui: &mut Ui, pid_controller: &mut PidController, speed: &mut R
ui.add(Slider::new(&mut ang_ki, 0.0..=10.0).text("angular Ki"));
ui.add(Slider::new(&mut ang_kd, 0.0..=1.0).text("angular Kd"));
pid_controller.pd.lin_kp.fill(lin_kp);
pid_controller.lin_ki.fill(lin_ki);
pid_controller.pd.lin_kd.fill(lin_kd);
pid_controller.pd.lin_kp = Vector::splat(lin_kp);
pid_controller.lin_ki = Vector::splat(lin_ki);
pid_controller.pd.lin_kd = Vector::splat(lin_kd);
pid_controller.pd.ang_kp = ang_kp;
pid_controller.ang_ki = ang_ki;
pid_controller.pd.ang_kd = ang_kd;
@@ -240,12 +240,12 @@ fn kinematic_control_ui(
#[allow(clippy::useless_conversion)]
{
ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=std::f32::consts::TAU.into()).text("max_slope_climb_angle"))
.on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
.on_hover_text("The maximum angle (radians) between the floor's normal and the `up` vector that the character is able to climb.");
ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=std::f32::consts::FRAC_PI_2.into()).text("min_slope_slide_angle"))
.on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
.on_hover_text("The minimum angle (radians) between the floor's normal and the `up` vector before the character starts to slide down automatically.");
}
let mut is_snapped = character_controller.snap_to_ground.is_some();
if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
if ui.checkbox(&mut is_snapped, "snap_to_ground").changed() {
match is_snapped {
true => {
character_controller.snap_to_ground = Some(CharacterLength::Relative(0.1));