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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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32
examples3d/debug_trimesh3.rs
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@@ -1,6 +1,4 @@
use na::Point3;
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) {
@@ -14,14 +12,14 @@ pub fn init_world(testbed: &mut Testbed) {
// Triangle ground.
let width = 0.5;
let vtx = vec![
Point3::new(-width, 0.0, -width),
Point3::new(width, 0.0, -width),
Point3::new(width, 0.0, width),
Point3::new(-width, 0.0, width),
Point3::new(-width, -width, -width),
Point3::new(width, -width, -width),
Point3::new(width, -width, width),
Point3::new(-width, -width, width),
point![-width, 0.0, -width],
point![width, 0.0, -width],
point![width, 0.0, width],
point![-width, 0.0, width],
point![-width, -width, -width],
point![width, -width, -width],
point![width, -width, width],
point![-width, -width, width],
];
let idx = vec![
[0, 2, 1],
@@ -40,25 +38,25 @@ pub fn init_world(testbed: &mut Testbed) {
// Dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 35.0, 0.0)
.translation(vector![0.0, 35.0, 0.0])
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, 0.0, 0.0)
.translation(vector![0.0, 0.0, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vtx, idx).build();
colliders.insert(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, Point3::new(0.3, 0.3, 0.3));
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);
/*
* 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());
}