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

26
examples3d/inverse_kinematics3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 0.2;
let ground_height = 0.01;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height, 0.0));
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -41,8 +41,8 @@ pub fn init_world(testbed: &mut Testbed) {
colliders.insert_with_parent(collider, new_body, &mut bodies);
let link_ab = SphericalJointBuilder::new()
.local_anchor1(point![0.0, size / 2.0 * (i != 0) as usize as f32, 0.0])
.local_anchor2(point![0.0, -size / 2.0, 0.0])
.local_anchor1(Vector::new(0.0, size / 2.0 * (i != 0) as usize as f32, 0.0))
.local_anchor2(Vector::new(0.0, -size / 2.0, 0.0))
.build()
.data;
@@ -70,14 +70,18 @@ pub fn init_world(testbed: &mut Testbed) {
};
// Cast a ray on a plane aligned with the camera passing through the origin.
let halfspace = HalfSpace {
normal: -UnitVector::new_normalize(graphics.camera_fwd_dir()),
};
let mouse_ray = Ray::new(mouse_ray.0, mouse_ray.1);
let Some(hit) = halfspace.cast_local_ray(&mouse_ray, f32::MAX, false) else {
let fwd = graphics.camera_fwd_dir();
let fwd_glam = Vector::new(-fwd.x, -fwd.y, -fwd.z).normalize();
let halfspace = HalfSpace { normal: fwd_glam };
let (mouse_orig, mouse_dir) = mouse_ray;
let ray = Ray::new(
Vector::new(mouse_orig.x, mouse_orig.y, mouse_orig.z),
Vector::new(mouse_dir.x, mouse_dir.y, mouse_dir.z),
);
let Some(hit) = halfspace.cast_local_ray(&ray, f32::MAX, false) else {
return;
};
let target_point = mouse_ray.point_at(hit);
let target_point = ray.point_at(hit);
let options = InverseKinematicsOption {
constrained_axes: JointAxesMask::LIN_AXES,
@@ -88,7 +92,7 @@ pub fn init_world(testbed: &mut Testbed) {
&physics.bodies,
link_id,
&options,
&Isometry::from(target_point),
&Pose::from_translation(target_point),
|_| true,
&mut displacements,
);
@@ -100,5 +104,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 0.5, 2.5], point![0.0, 0.5, 0.0]);
testbed.look_at(Vec3::new(0.0, 0.5, 2.5), Vec3::new(0.0, 0.5, 0.0));
}