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

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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
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18
benchmarks3d/convex_polyhedron3.rs
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@@ -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());
}