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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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33
examples3d/collision_groups3.rs
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@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
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 floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).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, 1.0)
.translation(0.0, 1.0, 0.0)
.translation(vector![0.0, 1.0, 0.0])
.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, 1.0)
.translation(0.0, 2.0, 0.0)
.translation(vector![0.0, 2.0, 0.0])
.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
@@ -72,17 +71,19 @@ pub fn init_world(testbed: &mut Testbed) {
// Alternate between the green and blue groups.
let (group, color) = if k % 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, 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)
.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);
}
@@ -93,5 +94,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
}