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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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17
benchmarks3d/joint_ball3.rs
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@@ -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]);
}