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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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10
examples2d/add_remove2.rs
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@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -12,13 +10,13 @@ pub fn init_world(testbed: &mut Testbed) {
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, _, _| {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0)
.translation(vector![0.0, 10.0])
.build();
let handle = physics.bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
physics
.colliders
.insert(collider, handle, &mut physics.bodies);
.insert_with_parent(collider, handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -48,5 +46,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 20.0);
testbed.look_at(point![0.0, 0.0], 20.0);
}

52
examples2d/ccd2.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry2, Point2, Point3};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(-3.0, 0.0)
.translation(vector![-3.0, 0.0])
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(6.0, 0.0)
.translation(vector![6.0, 0.0])
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(2.5, 0.0)
.translation(vector![2.5, 0.0])
.sensor(true)
.build();
let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies);
let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the shapes
@@ -45,9 +43,9 @@ pub fn init_world(testbed: &mut Testbed) {
let radx = 0.4;
let rady = 0.05;
let delta1 = Isometry2::translation(0.0, radx - rady);
let delta2 = Isometry2::translation(-radx + rady, 0.0);
let delta3 = Isometry2::translation(radx - rady, 0.0);
let delta1 = Isometry::translation(0.0, radx - rady);
let delta2 = Isometry::translation(-radx + rady, 0.0);
let delta3 = Isometry::translation(radx - rady, 0.0);
let mut compound_parts = Vec::new();
let vertical = SharedShape::cuboid(rady, radx);
@@ -70,8 +68,8 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x, y)
.linvel(100.0, -10.0)
.translation(vector![x, y])
.linvel(vector![100.0, -10.0])
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
@@ -80,12 +78,12 @@ pub fn init_world(testbed: &mut Testbed) {
// let collider = ColliderBuilder::new(part.1.clone())
// .position_wrt_parent(part.0)
// .build();
// colliders.insert(collider, handle, &mut bodies);
// colliders.insert_with_parent(collider, handle, &mut bodies);
// }
let collider = ColliderBuilder::new(compound_shape.clone()).build();
// let collider = ColliderBuilder::cuboid(radx, rady).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -93,13 +91,23 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
[1.0, 1.0, 0.0]
} else {
Point3::new(0.5, 0.5, 1.0)
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
let parent_handle1 = physics
.colliders
.get(prox.collider1)
.unwrap()
.parent()
.unwrap();
let parent_handle2 = physics
.colliders
.get(prox.collider2)
.unwrap()
.parent()
.unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
@@ -115,5 +123,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 20.0);
testbed.look_at(point![0.0, 2.5], 20.0);
}

33
examples2d/collision_groups2.rs
View File

@@ -1,6 +1,4 @@
use na::{Point2, Point3};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
use rapier2d::prelude::*;
use rapier_testbed2d::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)
.translation(vector![0.0, -ground_height])
.build();
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, floor_handle, &mut bodies);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
/*
* Setup groups
@@ -34,23 +32,24 @@ pub fn init_world(testbed: &mut Testbed) {
* A green floor that will collide with the GREEN group only.
*/
let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
.translation(0.0, 1.0)
.translation(vector![0.0, 1.0])
.collision_groups(GREEN_GROUP)
.build();
let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
let green_collider_handle =
colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
testbed.set_initial_collider_color(green_collider_handle, [0.0, 1.0, 0.0]);
/*
* A blue floor that will collide with the BLUE group only.
*/
let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
.translation(0.0, 2.0)
.translation(vector![0.0, 2.0])
.collision_groups(BLUE_GROUP)
.build();
let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
/*
* Create the cubes
@@ -69,17 +68,19 @@ pub fn init_world(testbed: &mut Testbed) {
// Alternate between the green and blue groups.
let (group, color) = if i % 2 == 0 {
(GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
(GREEN_GROUP, [0.0, 1.0, 0.0])
} else {
(BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
(BLUE_GROUP, [0.0, 0.0, 1.0])
};
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad)
.collision_groups(group)
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, color);
}
@@ -89,5 +90,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 100.0);
testbed.look_at(point![0.0, 1.0], 100.0);
}

24
examples2d/convex_polygons2.rs
View File

@@ -1,8 +1,6 @@
use na::Point2;
use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 2.0)
.translation(vector![ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 2.0)
.translation(vector![-ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the convex polygons
@@ -58,18 +56,20 @@ pub fn init_world(testbed: &mut Testbed) {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift * 2.0 + centery + 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point2<f32> = distribution.sample(&mut rng);
let pt: Point<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

14
examples2d/damping2.rs
View File

@@ -1,6 +1,4 @@
use na::{Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -24,8 +22,8 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rb = RigidBodyBuilder::new_dynamic()
.translation(x, y)
.linvel(x * 10.0, y * 10.0)
.translation(vector![x, y])
.linvel(vector![x * 10.0, y * 10.0])
.angvel(100.0)
.linear_damping((i + 1) as f32 * subdiv * 10.0)
.angular_damping((num - i) as f32 * subdiv * 10.0)
@@ -34,12 +32,12 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the collider.
let co = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(co, rb_handle, &mut bodies);
colliders.insert_with_parent(co, rb_handle, &mut bodies);
}
/*
* Set up the testbed.
*/
testbed.set_world_with_params(bodies, colliders, joints, Vector2::zeros(), ());
testbed.look_at(Point2::new(3.0, 2.0), 50.0);
testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
testbed.look_at(point![3.0, 2.0], 50.0);
}

14
examples2d/debug_box_ball2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -16,25 +14,25 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let rad = 1.0;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -rad)
.translation(vector![0.0, -rad])
.rotation(std::f32::consts::PI / 4.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 3.0 * rad)
.translation(vector![0.0, 3.0 * rad])
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 50.0);
testbed.look_at(point![0.0, 0.0], 50.0);
}

19
examples2d/heightfield2.rs
View File

@@ -1,6 +1,5 @@
use na::{DVector, Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use na::DVector;
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector2::new(50.0, 1.0);
let ground_size = Vector::new(50.0, 1.0);
let nsubdivs = 2000;
let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
@@ -28,7 +27,7 @@ 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
@@ -46,15 +45,17 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(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);
}
}
}
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 10.0);
testbed.look_at(point![0.0, 0.0], 10.0);
}

16
examples2d/joints2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -15,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Create the balls
*/
// Build the rigid body.
// NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
// NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
// in order to be able to compare rapier with Box2D,
// we set it to 0.4.
let rad = 0.4;
@@ -37,16 +35,16 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, -fi * shift)
.translation(vector![fk * shift, -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(Point2::origin(), Point2::new(0.0, shift));
let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -54,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -66,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 20.0);
}

18
examples2d/locked_rotations2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
// This shows a bug when a cylinder is in contact with a very large
@@ -21,38 +19,38 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height)
.translation(vector![0.0, -ground_height])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* A rectangle that only rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 3.0)
.translation(vector![0.0, 3.0])
.lock_translations()
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 0.6).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* A tilted capsule that cannot rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 5.0)
.translation(vector![0.0, 5.0])
.rotation(1.0)
.lock_rotations()
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 40.0);
testbed.look_at(point![0.0, 0.0], 40.0);
}

39
examples2d/one_way_platforms2.rs
View File

@@ -1,7 +1,4 @@
use na::{Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet};
use rapier2d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
struct OneWayPlatformHook {
@@ -10,10 +7,6 @@ struct OneWayPlatformHook {
}
impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
fn active_hooks(&self) -> PhysicsHooksFlags {
PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS
}
fn modify_solver_contacts(
&self,
context: &mut ContactModificationContext<RigidBodySet, ColliderSet>,
@@ -30,20 +23,20 @@ impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook {
// - If context.collider_handle2 == self.platform1 then the allowed normal is -y.
// - If context.collider_handle1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
// - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
let mut allowed_local_n1 = Vector2::zeros();
let mut allowed_local_n1 = Vector::zeros();
if context.collider1 == self.platform1 {
allowed_local_n1 = Vector2::y();
allowed_local_n1 = Vector::y();
} else if context.collider2 == self.platform1 {
// Flip the allowed direction.
allowed_local_n1 = -Vector2::y();
allowed_local_n1 = -Vector::y();
}
if context.collider1 == self.platform2 {
allowed_local_n1 = -Vector2::y();
allowed_local_n1 = -Vector::y();
} else if context.collider2 == self.platform2 {
// Flip the allowed direction.
allowed_local_n1 = Vector2::y();
allowed_local_n1 = Vector::y();
}
// Call the helper function that simulates one-way platforms.
@@ -78,15 +71,15 @@ pub fn init_world(testbed: &mut Testbed) {
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(25.0, 0.5)
.translation(30.0, 2.0)
.modify_solver_contacts(true)
.translation(vector![30.0, 2.0])
.active_hooks(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
.build();
let platform1 = colliders.insert(collider, handle, &mut bodies);
let platform1 = colliders.insert_with_parent(collider, handle, &mut bodies);
let collider = ColliderBuilder::cuboid(25.0, 0.5)
.translation(-30.0, -2.0)
.modify_solver_contacts(true)
.translation(vector![-30.0, -2.0])
.active_hooks(PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS)
.build();
let platform2 = colliders.insert(collider, handle, &mut bodies);
let platform2 = colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Setup the one-way platform hook.
@@ -105,12 +98,12 @@ pub fn init_world(testbed: &mut Testbed) {
// Spawn a new cube.
let collider = ColliderBuilder::cuboid(1.5, 2.0).build();
let body = RigidBodyBuilder::new_dynamic()
.translation(20.0, 10.0)
.translation(vector![20.0, 10.0])
.build();
let handle = physics.bodies.insert(body);
physics
.colliders
.insert(collider, handle, &mut physics.bodies);
.insert_with_parent(collider, handle, &mut physics.bodies);
if let Some(graphics) = graphics {
graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -134,8 +127,8 @@ pub fn init_world(testbed: &mut Testbed) {
bodies,
colliders,
joints,
Vector2::new(0.0, -9.81),
vector![0.0, -9.81],
physics_hooks,
);
testbed.look_at(Point2::new(0.0, 0.0), 20.0);
testbed.look_at(point![0.0, 0.0], 20.0);
}

20
examples2d/platform2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::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)
.translation(vector![0.0, -ground_height])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the boxes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -51,11 +51,11 @@ pub fn init_world(testbed: &mut Testbed) {
* Setup a kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic()
.translation(-10.0 * rad, 1.5 + 0.8)
.translation(vector![-10.0 * rad, 1.5 + 0.8])
.build();
let platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
colliders.insert(collider, platform_handle, &mut bodies);
colliders.insert_with_parent(collider, platform_handle, &mut bodies);
/*
* Setup a callback to control the platform.
@@ -82,5 +82,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Run the simulation.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 40.0);
testbed.look_at(point![0.0, 1.0], 40.0);
}

23
examples2d/polyline2.rs
View File

@@ -1,6 +1,5 @@
use na::{ComplexField, Point2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use na::ComplexField;
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -19,18 +18,18 @@ pub fn init_world(testbed: &mut Testbed) {
let step_size = ground_size / (nsubdivs as f32);
let mut points = Vec::new();
points.push(Point2::new(-ground_size / 2.0, 40.0));
points.push(point![-ground_size / 2.0, 40.0]);
for i in 1..nsubdivs - 1 {
let x = -ground_size / 2.0 + i as f32 * step_size;
let y = ComplexField::cos(i as f32 * step_size) * 2.0;
points.push(Point2::new(x, y));
points.push(point![x, y]);
}
points.push(Point2::new(ground_size / 2.0, 40.0));
points.push(point![ground_size / 2.0, 40.0]);
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::polyline(points, None).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -48,15 +47,17 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(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);
}
}
}
@@ -65,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 10.0);
testbed.look_at(point![0.0, 0.0], 10.0);
}

14
examples2d/pyramid2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -20,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = fi * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -51,5 +51,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 20.0);
testbed.look_at(point![0.0, 2.5], 20.0);
}

14
examples2d/restitution2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -18,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 1.0;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height)
.translation(vector![0.0, -ground_height])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height)
.restitution(1.0)
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let num = 10;
let rad = 0.5;
@@ -33,13 +31,13 @@ pub fn init_world(testbed: &mut Testbed) {
for i in 0..=num {
let x = (i as f32) - num as f32 / 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x * 2.0, 10.0 * (j as f32 + 1.0))
.translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad)
.restitution((i as f32) / (num as f32))
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -47,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 25.0);
testbed.look_at(point![0.0, 1.0], 25.0);
}

40
examples2d/sensor2.rs
View File

@@ -1,6 +1,4 @@
use na::{Point2, Point3};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::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)
.translation(vector![0.0, -ground_height])
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create some boxes.
@@ -38,12 +36,14 @@ pub fn init_world(testbed: &mut Testbed) {
let y = 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
}
/*
@@ -52,33 +52,37 @@ pub fn init_world(testbed: &mut Testbed) {
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0)
.translation(vector![0.0, 10.0])
.build();
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which
// other colliders can touch.
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, sensor_handle, &mut bodies);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't
// want it to contribute to the rigid body mass.
let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
colliders.insert(sensor_collider, sensor_handle, &mut bodies);
let sensor_collider = ColliderBuilder::ball(rad * 5.0)
.density(0.0)
.sensor(true)
.build();
colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
[1.0, 1.0, 0.0]
} else {
Point3::new(0.5, 0.5, 1.0)
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
let parent_handle1 = physics.colliders[prox.collider1].parent().unwrap();
let parent_handle2 = physics.colliders[prox.collider2].parent().unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
@@ -94,5 +98,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 100.0);
testbed.look_at(point![0.0, 1.0], 100.0);
}

22
examples2d/trimesh2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
use lyon::math::Point;
@@ -25,23 +23,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size)
.translation(vector![ground_size, ground_size])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size)
.translation(vector![-ground_size, ground_size])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the trimeshes from a tesselated SVG.
@@ -83,18 +81,18 @@ pub fn init_world(testbed: &mut Testbed) {
let vertices: Vec<_> = mesh
.vertices
.iter()
.map(|v| Point2::new(v.position[0] * sx, v.position[1] * -sy))
.map(|v| point![v.position[0] * sx, v.position[1] * -sy])
.collect();
for k in 0..5 {
let collider =
ColliderBuilder::trimesh(vertices.clone(), indices.clone()).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0)
.translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
.rotation(angle)
.build();
let handle = bodies.insert(rigid_body);
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
ith += 1;
@@ -106,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 20.0), 17.0);
testbed.look_at(point![0.0, 20.0], 17.0);
}
const RAPIER_SVG_STR: &'static str = r#"