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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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45
src_testbed/physx_backend.rs
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@@ -220,23 +220,28 @@ impl PhysxWorld {
if let Some((mut px_shape, px_material, collider_pos)) =
physx_collider_from_rapier_collider(&mut *physics, &mut cooking, &collider)
{
let parent_body = &bodies[collider.parent()];
if let Some(parent_handle) = collider.parent() {
let parent_body = &bodies[parent_handle];
if !parent_body.is_dynamic() {
let actor = rapier2static.get_mut(&collider.parent()).unwrap();
actor.attach_shape(&mut px_shape);
} else {
let actor = rapier2dynamic.get_mut(&collider.parent()).unwrap();
actor.attach_shape(&mut px_shape);
if !parent_body.is_dynamic() {
let actor = rapier2static.get_mut(&parent_handle).unwrap();
actor.attach_shape(&mut px_shape);
} else {
let actor = rapier2dynamic.get_mut(&parent_handle).unwrap();
actor.attach_shape(&mut px_shape);
}
unsafe {
let pose = collider_pos.into_physx();
physx_sys::PxShape_setLocalPose_mut(
px_shape.as_mut_ptr(),
&pose.into(),
);
}
shapes.push(px_shape);
materials.push(px_material);
}
unsafe {
let pose = collider_pos.into_physx();
physx_sys::PxShape_setLocalPose_mut(px_shape.as_mut_ptr(), &pose.into());
}
shapes.push(px_shape);
materials.push(px_material);
}
}
@@ -454,8 +459,8 @@ impl PhysxWorld {
}
}
JointParams::FixedJoint(params) => {
let frame1 = params.local_anchor1.into_physx().into();
let frame2 = params.local_anchor2.into_physx().into();
let frame1 = params.local_frame1.into_physx().into();
let frame2 = params.local_frame2.into_physx().into();
physx_sys::phys_PxFixedJointCreate(
physics.as_mut_ptr(),
@@ -500,7 +505,9 @@ impl PhysxWorld {
for coll_handle in rb.colliders() {
let collider = &mut colliders[*coll_handle];
collider.set_position_debug(pos * collider.position_wrt_parent());
collider.set_position(
pos * collider.position_wrt_parent().copied().unwrap_or(na::one()),
);
}
}
}
@@ -511,7 +518,7 @@ fn physx_collider_from_rapier_collider(
cooking: &PxCooking,
collider: &Collider,
) -> Option<(Owner<PxShape>, Owner<PxMaterial>, Isometry3<f32>)> {
let mut local_pose = *collider.position_wrt_parent();
let mut local_pose = collider.position_wrt_parent().copied().unwrap_or(na::one());
let shape = collider.shape();
let shape_flags = if collider.is_sensor() {
ShapeFlag::TriggerShape.into()