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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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65
src_testbed/graphics.rs
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@@ -1,6 +1,6 @@
use bevy::prelude::*;
use na::Point3;
use na::{point, Point3};
use crate::math::Isometry;
use crate::objects::node::EntityWithGraphics;
@@ -34,7 +34,7 @@ impl GraphicsManager {
b2sn: HashMap::new(),
b2color: HashMap::new(),
c2color: HashMap::new(),
ground_color: Point3::new(0.5, 0.5, 0.5),
ground_color: point![0.5, 0.5, 0.5],
b2wireframe: HashMap::new(),
prefab_meshes: HashMap::new(),
}
@@ -57,9 +57,10 @@ impl GraphicsManager {
pub fn remove_collider_nodes(
&mut self,
commands: &mut Commands,
body: RigidBodyHandle,
body: Option<RigidBodyHandle>,
collider: ColliderHandle,
) {
let body = body.unwrap_or(RigidBodyHandle::invalid());
if let Some(sns) = self.b2sn.get_mut(&body) {
for sn in sns.iter_mut() {
if sn.collider == collider {
@@ -83,23 +84,23 @@ impl GraphicsManager {
&mut self,
materials: &mut Assets<StandardMaterial>,
b: RigidBodyHandle,
color: Point3<f32>,
color: [f32; 3],
) {
self.b2color.insert(b, color);
self.b2color.insert(b, color.into());
if let Some(ns) = self.b2sn.get_mut(&b) {
for n in ns.iter_mut() {
n.set_color(materials, color)
n.set_color(materials, color.into())
}
}
}
pub fn set_initial_body_color(&mut self, b: RigidBodyHandle, color: Point3<f32>) {
self.b2color.insert(b, color);
pub fn set_initial_body_color(&mut self, b: RigidBodyHandle, color: [f32; 3]) {
self.b2color.insert(b, color.into());
}
pub fn set_initial_collider_color(&mut self, c: ColliderHandle, color: Point3<f32>) {
self.c2color.insert(c, color);
pub fn set_initial_collider_color(&mut self, c: ColliderHandle, color: [f32; 3]) {
self.c2color.insert(c, color.into());
}
pub fn set_body_wireframe(&mut self, b: RigidBodyHandle, enabled: bool) {
@@ -118,18 +119,18 @@ impl GraphicsManager {
}
}
pub fn toggle_wireframe_mode(&mut self, colliders: &ColliderSet, _enabled: bool) {
for n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
let _force_wireframe = if let Some(collider) = colliders.get(n.collider) {
collider.is_sensor()
|| self
.b2wireframe
.get(&collider.parent())
.cloned()
.unwrap_or(false)
} else {
false
};
pub fn toggle_wireframe_mode(&mut self, _colliders: &ColliderSet, _enabled: bool) {
for _n in self.b2sn.values_mut().flat_map(|val| val.iter_mut()) {
// let _force_wireframe = if let Some(collider) = colliders.get(n.collider) {
// collider.is_sensor()
// || self
// .b2wireframe
// .get(&collider.parent())
// .cloned()
// .unwrap_or(false)
// } else {
// false
// };
// if let Some(node) = n.scene_node_mut() {
// if force_wireframe || enabled {
@@ -171,7 +172,7 @@ impl GraphicsManager {
}
}
self.set_body_color(materials, handle, color);
self.set_body_color(materials, handle, color.into());
color
}
@@ -257,10 +258,10 @@ impl GraphicsManager {
colliders: &ColliderSet,
) {
let collider = &colliders[handle];
let color = *self.b2color.get(&collider.parent()).unwrap();
let collider_parent = collider.parent().unwrap_or(RigidBodyHandle::invalid());
let color = *self.b2color.get(&collider_parent).unwrap();
let color = self.c2color.get(&handle).copied().unwrap_or(color);
let mut nodes =
std::mem::replace(self.b2sn.get_mut(&collider.parent()).unwrap(), Vec::new());
let mut nodes = std::mem::replace(self.b2sn.get_mut(&collider_parent).unwrap(), Vec::new());
self.do_add_shape(
commands,
meshes,
@@ -273,7 +274,7 @@ impl GraphicsManager {
color,
&mut nodes,
);
self.b2sn.insert(collider.parent(), nodes);
self.b2sn.insert(collider_parent, nodes);
}
fn do_add_shape(
@@ -338,9 +339,9 @@ impl GraphicsManager {
//
// if bo.is_dynamic() {
// if bo.is_ccd_active() {
// n.set_color(Point3::new(1.0, 0.0, 0.0));
// n.set_color(point![1.0, 0.0, 0.0]);
// } else {
// n.set_color(Point3::new(0.0, 1.0, 0.0));
// n.set_color(point![0.0, 1.0, 0.0]);
// }
// }
// }
@@ -365,9 +366,9 @@ impl GraphicsManager {
// let y = rotmat.column(1) * 0.25f32;
// let z = rotmat.column(2) * 0.25f32;
// window.draw_line(center, &(*center + x), &Point3::new(1.0, 0.0, 0.0));
// window.draw_line(center, &(*center + y), &Point3::new(0.0, 1.0, 0.0));
// window.draw_line(center, &(*center + z), &Point3::new(0.0, 0.0, 1.0));
// window.draw_line(center, &(*center + x), &point![1.0, 0.0, 0.0]);
// window.draw_line(center, &(*center + y), &point![0.0, 1.0, 0.0]);
// window.draw_line(center, &(*center + z), &point![0.0, 0.0, 1.0]);
// // }
// }
// }