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

Add prelude + use vectors for setting linvel/translation in builders

Browse Source
This commit is contained in:
Crozet Sébastien
2021-05-25 11:00:13 +02:00
parent 47139323e0
commit 1bef66fea9
93 changed files with 1528 additions and 1259 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
benchmarks3d/balls3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -37,10 +35,12 @@ pub fn init_world(testbed: &mut Testbed) {
let density = 0.477;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new(status).translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).density(density).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -49,5 +49,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

16
benchmarks3d/boxes3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -45,10 +43,12 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

16
benchmarks3d/capsules3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -46,10 +44,12 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -60,5 +60,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

16
benchmarks3d/ccd3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -49,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x, y, z)
.linvel(0.0, -1000.0, 0.0)
.translation(vector![x, y, z])
.linvel(vector![0.0, -1000.0, 0.0])
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
@@ -65,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
_ => ColliderBuilder::capsule_y(rad, rad),
};
colliders.insert(collider.build(), handle, &mut bodies);
colliders.insert_with_parent(collider.build(), handle, &mut bodies);
}
}
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

24
benchmarks3d/compound3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -45,18 +43,20 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift * 2.0 - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(rad * 10.0, rad * 10.0, 0.0)
.translation(vector![rad * 10.0, rad * 10.0, 0.0])
.build();
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(-rad * 10.0, rad * 10.0, 0.0)
.translation(vector![-rad * 10.0, rad * 10.0, 0.0])
.build();
colliders.insert(collider1, handle, &mut bodies);
colliders.insert(collider2, handle, &mut bodies);
colliders.insert(collider3, handle, &mut bodies);
colliders.insert_with_parent(collider1, handle, &mut bodies);
colliders.insert_with_parent(collider2, handle, &mut bodies);
colliders.insert_with_parent(collider3, handle, &mut bodies);
}
}
@@ -67,5 +67,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

18
benchmarks3d/convex_polyhedron3.rs
View File

@@ -1,8 +1,6 @@
use na::Point3;
use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -20,11 +18,11 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -53,17 +51,19 @@ pub fn init_world(testbed: &mut Testbed) {
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point3<f32> = distribution.sample(&mut rng);
let pt: Point<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
.unwrap()
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

19
benchmarks3d/heightfield3.rs
View File

@@ -1,6 +1,5 @@
use na::{ComplexField, DMatrix, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use na::ComplexField;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector3::new(200.0, 1.0, 200.0);
let ground_size = vector![200.0, 1.0, 200.0];
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -34,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -55,15 +54,17 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -73,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

17
benchmarks3d/joint_ball3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -29,16 +27,16 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, 0.0, fi * shift)
.translation(vector![fk * shift, 0.0, fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -46,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -58,8 +56,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(-110.0, -46.0, 170.0),
Point3::new(54.0, -38.0, 29.0),
);
testbed.look_at(point![-110.0, -46.0, 170.0], point![54.0, -38.0, 29.0]);
}

21
benchmarks3d/joint_fixed3.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry3, Point3};
use rapier3d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -42,18 +40,18 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(x + fk * shift, y, z + fi * shift)
.translation(vector![x + fk * shift, y, z + fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry3::identity(),
Isometry3::translation(0.0, 0.0, -shift),
Isometry::identity(),
Isometry::translation(0.0, 0.0, -shift),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -63,8 +61,8 @@ pub fn init_world(testbed: &mut Testbed) {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new(
Isometry3::identity(),
Isometry3::translation(-shift, 0.0, 0.0),
Isometry::identity(),
Isometry::translation(-shift, 0.0, 0.0),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -80,8 +78,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(-38.0, 14.0, 108.0),
Point3::new(46.0, 12.0, 23.0),
);
testbed.look_at(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
}

31
benchmarks3d/joint_prismatic3.rs
View File

@@ -1,6 +1,4 @@
use na::{Point3, Unit, Vector3};
use rapier3d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -24,33 +22,37 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(x, y, z).build();
let ground = RigidBodyBuilder::new_static()
.translation(vector![x, y, z])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
for i in 0..num {
let z = z + (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
colliders.insert(collider, curr_child, &mut bodies);
colliders.insert_with_parent(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
} else {
Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let z = Vector3::z();
let z = Vector::z();
let mut prism = PrismaticJoint::new(
Point3::origin(),
Point::origin(),
axis,
z,
Point3::new(0.0, 0.0, -shift),
point![0.0, 0.0, -shift],
axis,
z,
);
@@ -69,8 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(262.0, 63.0, 124.0),
Point3::new(101.0, 4.0, -3.0),
);
testbed.look_at(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
}

37
benchmarks3d/joint_revolute3.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RevoluteJoint, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -22,20 +20,20 @@ pub fn init_world(testbed: &mut Testbed) {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static()
.translation(x, y, 0.0)
.translation(vector![x, y, 0.0])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
for i in 0..num {
// Create four bodies.
let z = i as f32 * shift * 2.0 + shift;
let positions = [
Isometry3::translation(x, y, z),
Isometry3::translation(x + shift, y, z),
Isometry3::translation(x + shift, y, z + shift),
Isometry3::translation(x, y, z + shift),
Isometry::translation(x, y, z),
Isometry::translation(x + shift, y, z),
Isometry::translation(x + shift, y, z + shift),
Isometry::translation(x, y, z + shift),
];
let mut handles = [curr_parent; 4];
@@ -48,19 +46,19 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
colliders.insert(collider, handles[k], &mut bodies);
colliders.insert_with_parent(collider, handles[k], &mut bodies);
}
// Setup four joints.
let o = Point3::origin();
let x = Vector3::x_axis();
let z = Vector3::z_axis();
let o = Point::origin();
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
];
joints.insert(&mut bodies, curr_parent, handles[0], revs[0]);
@@ -77,8 +75,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(478.0, 83.0, 228.0),
Point3::new(134.0, 83.0, -116.0),
);
testbed.look_at(point![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
}

38
benchmarks3d/keva3.rs
View File

@@ -1,14 +1,12 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn build_block(
testbed: &mut Testbed,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
half_extents: Vector3<f32>,
shift: Vector3<f32>,
half_extents: Vector<f32>,
shift: Vector<f32>,
mut numx: usize,
numy: usize,
mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
let block_width = 2.0 * half_extents.z * numx as f32;
let block_height = 2.0 * half_extents.y * numy as f32;
let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
let mut color0 = Point3::new(0.7, 0.5, 0.9);
let mut color1 = Point3::new(0.6, 1.0, 0.6);
let mut color0 = [0.7, 0.5, 0.9];
let mut color1 = [0.6, 1.0, 0.6];
for i in 0..numy {
std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z,
)
z + dim.z + shift.z
])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
i as f32 * dim.x * 2.0 + dim.x + shift.x,
dim.y + shift.y + block_height,
j as f32 * dim.z * 2.0 + dim.z + shift.z,
)
j as f32 * dim.z * 2.0 + dim.z + shift.z
])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
}
@@ -94,16 +92,16 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
let mut block_height = 0.0;
// These should only be set to odd values otherwise
// the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
&mut bodies,
&mut colliders,
half_extents,
Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
vector![-block_width / 2.0, block_height, -block_width / 2.0],
numx,
numy,
numz,
@@ -135,5 +133,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

24
benchmarks3d/pyramid3.rs
View File

@@ -1,14 +1,12 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.5;
for i in 0usize..stack_height {
@@ -24,12 +22,14 @@ fn create_pyramid(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let rigid_body_handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, rigid_body_handle, bodies);
colliders.insert_with_parent(collider, rigid_body_handle, bodies);
}
}
}
@@ -50,22 +50,22 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
*/
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let hext = Vector::repeat(cube_size);
let bottomy = cube_size;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(0.0, bottomy, 0.0),
vector![0.0, bottomy, 0.0],
24,
hext,
);
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

60
benchmarks3d/stacks3.rs
View File

@@ -1,15 +1,13 @@
use na::{Point3, Translation3, UnitQuaternion, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_tower_circle(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
nsubdivs: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
@@ -20,16 +18,16 @@ fn create_tower_circle(
let fj = j as f32;
let fi = i as f32;
let y = fi * shift.y;
let pos = Translation3::from(offset)
* UnitQuaternion::new(Vector3::y() * (fi / 2.0 + fj) * ang_step)
* Translation3::new(0.0, y, radius);
let pos = Translation::from(offset)
* Rotation::new(Vector::y() * (fi / 2.0 + fj) * ang_step)
* Translation::new(0.0, y, radius);
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -37,9 +35,9 @@ fn create_tower_circle(
fn create_wall(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
@@ -52,11 +50,13 @@ fn create_wall(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -64,9 +64,9 @@ fn create_wall(
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.0;
@@ -83,11 +83,13 @@ fn create_pyramid(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -108,71 +110,71 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let hext = Vector::repeat(cube_size);
let bottomy = cube_size * 50.0;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-110.0, bottomy, 0.0),
vector![-110.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-80.0, bottomy, 0.0),
vector![-80.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-50.0, bottomy, 0.0),
vector![-50.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-20.0, bottomy, 0.0),
vector![-20.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(-2.0, bottomy, 0.0),
vector![-2.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(4.0, bottomy, 0.0),
vector![4.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(10.0, bottomy, 0.0),
vector![10.0, bottomy, 0.0],
12,
hext,
);
create_tower_circle(
&mut bodies,
&mut colliders,
Vector3::new(25.0, bottomy, 0.0),
vector![25.0, bottomy, 0.0],
8,
24,
hext,
@@ -182,5 +184,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

19
benchmarks3d/trimesh3.rs
View File

@@ -1,6 +1,5 @@
use na::{ComplexField, DMatrix, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField};
use na::ComplexField;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector3::new(200.0, 1.0, 200.0);
let ground_size = vector![200.0, 1.0, 200.0];
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -39,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -60,15 +59,17 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -78,5 +79,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}