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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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70
examples3d/ccd3.rs
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@@ -1,15 +1,13 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_wall(
testbed: &mut Testbed,
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;
let mut k = 0;
@@ -23,22 +21,18 @@ 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);
k += 1;
if k % 2 == 0 {
testbed.set_initial_body_color(
handle,
Point3::new(255. / 255., 131. / 255., 244.0 / 255.),
);
testbed.set_initial_body_color(handle, [255. / 255., 131. / 255., 244.0 / 255.]);
} else {
testbed.set_initial_body_color(
handle,
Point3::new(131. / 255., 255. / 255., 244.0 / 255.),
);
testbed.set_initial_body_color(handle, [131. / 255., 255. / 255., 244.0 / 255.]);
}
}
}
@@ -59,11 +53,11 @@ 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 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 pyramids.
@@ -79,18 +73,18 @@ pub fn init_world(testbed: &mut Testbed) {
testbed,
&mut bodies,
&mut colliders,
Vector3::new(x, shift_y, 0.0),
vector![x, shift_y, 0.0],
num_z,
Vector3::new(0.5, 0.5, 1.0),
vector![0.5, 0.5, 1.0],
);
create_wall(
testbed,
&mut bodies,
&mut colliders,
Vector3::new(x, shift_y, shift_z),
vector![x, shift_y, shift_z],
num_z,
Vector3::new(0.5, 0.5, 1.0),
vector![0.5, 0.5, 1.0],
);
}
@@ -104,35 +98,45 @@ pub fn init_world(testbed: &mut Testbed) {
.sensor(true)
.build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.linvel(1000.0, 0.0, 0.0)
.translation(-20.0, shift_y + 2.0, 0.0)
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, 0.0])
.ccd_enabled(true)
.build();
let sensor_handle = bodies.insert(rigid_body);
colliders.insert(collider, sensor_handle, &mut bodies);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// Second rigid-body with CCD enabled.
let collider = ColliderBuilder::ball(1.0).density(10.0).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.linvel(1000.0, 0.0, 0.0)
.translation(-20.0, shift_y + 2.0, shift_z)
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, shift_z])
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
colliders.insert(collider.clone(), handle, &mut bodies);
testbed.set_initial_body_color(handle, Point3::new(0.2, 0.2, 1.0));
colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
testbed.set_initial_body_color(handle, [0.2, 0.2, 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
.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 && parent_handle1 != sensor_handle {
@@ -149,5 +153,5 @@ 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());
}