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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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20
examples3d/platform3.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) {
@@ -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 handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the boxes
@@ -43,10 +41,12 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// 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(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -55,11 +55,11 @@ pub fn init_world(testbed: &mut Testbed) {
* Setup a kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic()
.translation(0.0, 1.5 + 0.8, -10.0 * rad)
.translation(vector![0.0, 1.5 + 0.8, -10.0 * rad])
.build();
let platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
colliders.insert(collider, platform_handle, &mut bodies);
colliders.insert_with_parent(collider, platform_handle, &mut bodies);
/*
* Setup a callback to control the platform.
@@ -93,5 +93,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Run the simulation.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(-10.0, 5.0, -10.0), Point3::origin());
testbed.look_at(point![-10.0, 5.0, -10.0], Point::origin());
}