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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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39
examples3d/one_way_platforms3.rs
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@@ -1,7 +1,4 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet};
use rapier3d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags};
use rapier3d::prelude::*;
use rapier_testbed3d::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.collider2 == self.platform1 then the allowed normal is -y.
// - If context.collider1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
// - If context.collider2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
let mut allowed_local_n1 = Vector3::zeros();
let mut allowed_local_n1 = Vector::zeros();
if context.collider1 == self.platform1 {
allowed_local_n1 = Vector3::y();
allowed_local_n1 = Vector::y();
} else if context.collider2 == self.platform1 {
// Flip the allowed direction.
allowed_local_n1 = -Vector3::y();
allowed_local_n1 = -Vector::y();
}
if context.collider1 == self.platform2 {
allowed_local_n1 = -Vector3::y();
allowed_local_n1 = -Vector::y();
} else if context.collider2 == self.platform2 {
// Flip the allowed direction.
allowed_local_n1 = Vector3::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(9.0, 0.5, 25.0)
.translation(0.0, 2.0, 30.0)
.modify_solver_contacts(true)
.translation(vector![0.0, 2.0, 30.0])
.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(9.0, 0.5, 25.0)
.translation(0.0, -2.0, -30.0)
.modify_solver_contacts(true)
.translation(vector![0.0, -2.0, -30.0])
.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(1.0, 2.0, 1.5).build();
let body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 6.0, 20.0)
.translation(vector![0.0, 6.0, 20.0])
.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,
Vector3::new(0.0, -9.81, 0.0),
vector![0.0, -9.81, 0.0],
physics_hooks,
);
testbed.look_at(Point3::new(-100.0, 0.0, 0.0), Point3::origin());
testbed.look_at(point![-100.0, 0.0, 0.0], Point::origin());
}