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Merge pull request #196 from dimforge/api_changes

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More API changes
This commit is contained in:
Sébastien Crozet
2021-06-02 17:15:46 +02:00
committed by GitHub
parent 3bac79ecac bde6657287
commit 6ba1c9dec1
125 changed files with 2424 additions and 1655 deletions
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64
CHANGELOG.md
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@@ -1,7 +1,71 @@
## v0.9.0
The user-guide has been fully rewritten and is now exhaustive! Check it out on [rapier.rs](https://rapier.rs/)
### Added
- A prelude has been added in order to simplify the most common imports. For example: `use rapier3d::prelude::*`
- Add `RigidBody::set_translation` and `RigidBody.translation()`.
- Add `RigidBody::set_rotation` and `RigidBody.rotation().
- Add `RigidBody::set_next_translation` for setting the next translation of a position-based kinematic body.
- Add `RigidBody::set_next_rotation` for setting the next rotation of a position-based kinematic body.
- Add kinematic bodies controlled at the velocity level: use `RigidBodyBuilder::new_kinematic_velocity_based` or
`RigidBodyType::KinematicVelocityBased`.
### Modified
The use of `RigidBodySet, ColliderSet, RigidBody, Collider` is no longer mandatory. Rigid-bodies and colliders have
been split into multiple components that can be stored in a user-defined set. This is useful for integrating Rapier
with other engines (for example this allows use to use Bevy's Query as our rigid-body/collider sets).
The `RigidBodySet, ColliderSet, RigidBody, Collider` are still the best option for whoever doesn't want to
provide their own component sets.
#### Rigid-bodies
- Renamed `BodyStatus` to `RigidBodyType`.
- `RigidBodyBuilder::translation` now takes a vector instead of individual components.
- `RigidBodyBuilder::linvel` now takes a vector instead of individual components.
- The `RigidBodyBuilder::new_kinematic` has be replaced by the `RigidBodyBuilder::new_kinematic_position_based` and
`RigidBodyBuilder::new_kinematic_velocity_based` constructors.
- The `RigidBodyType::Kinematic` variant has been replaced by two variants: `RigidBodyType::KinematicVelocityBased` and
`RigidBodyType::KinematicPositionBased`.
#### Colliders
- `Colliderbuilder::translation` now takes a vector instead of individual components.
- The way `PhysicsHooks` are enabled changed. Now, a physics hooks is executed if any of the two
colliders involved in the contact/intersection pair contains the related `PhysicsHooksFlag`.
These flags are configured on each collider with `ColliderBuilder::active_hooks`. As a result,
there is no `PhysicsHooks::active_hooks` method any more.
- All events are now disabled for all colliders by default. Enable events for specific colliders by setting its
`active_events` bit mask to `ActiveEvents::CONTACT_EVENTS` and/or `ActiveEvents::PROXIMITY_EVENTS`.
- Add a simpler way of enabling collision-detection between colliders attached to two non-dynamic rigid-bodies: see
`ColliderBuilder::active_collision_types`.
- The `InteractionGroups` is now a structures with two `u32` integers: one integers for the groups
membership and one for the group filter mask. (Before, both were only 16-bits wide, and were
packed into a single `u32`).
- Before, sensor colliders had a default density set to 0.0 whereas non-sensor colliders had a
default density of 1.0. This has been unified by setting the default density to 1.0 for both
sensor and non-sensor colliders.
- Colliders are no longer required to be attached to a rigid-body. Therefore, `ColliderSet::insert`
only takes the collider as argument now. In order to attach the collider to a rigid-body,
(i.e., the old behavior of `ColliderSet::insert`), use `ColliderSet::insert_with_parent`.
- Fixed a bug where collision groups were ignored by CCD.
#### Joints
- The fields `FixedJoint::local_anchor1` and `FixedJoint::local_anchor2` have been renamed to
`FixedJoint::local_frame1` and `FixedJoint::local_frame2`.
#### Pipelines and others
- The field `ContactPair::pair` (which contained two collider handles) has been replaced by two
fields: `ContactPair::collider1` and `ContactPair::collider2`.
- The list of active dynamic bodies is no retrieved with `IslandManager::active_dynamic_bodies`
instead of `RigidBodySet::iter_active_dynamic`.
- The list of active kinematic bodies is no retrieved with `IslandManager::active_kinematic_bodies`
instead of `RigidBodySet::iter_active_kinematic`.
- `NarrowPhase::contacts_with` now returns an `impl Iterator<Item = &ContactPair>` instead of
an `Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>>`. The colliders
handles can be read from the contact-pair itself.
- `NarrowPhase::intersections_with` now returns an iterator directly instead of an `Option<impl Iterator>`.
- Rename `PhysicsHooksFlags` to `ActiveHooks`.
- Add the contact pair as an argument to `EventHandler::handle_contact_event`
## v0.8.0
### Modified

3
Cargo.toml
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@@ -18,9 +18,6 @@ resolver = "2"
#parry3d-f64 = { path = "../parry/build/parry3d-f64" }
#nalgebra = { path = "../nalgebra" }
#bevy-orbit-controls = { path = "../bevy-orbit-controls" }
bevy-orbit-controls = { git = "https://github.com/sebcrozet/bevy-orbit-controls" }
#kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
#parry2d = { git = "https://github.com/dimforge/parry", branch = "special_cases" }

2
benchmarks2d/Cargo.toml
View File

@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
[dependencies]
rand = "0.8"
Inflector = "0.11"
nalgebra = "0.26"
nalgebra = "0.27"
[dependencies.rapier_testbed2d]
path = "../build/rapier_testbed2d"

14
benchmarks2d/balls2.rs
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@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -22,7 +20,7 @@ pub fn init_world(testbed: &mut Testbed) {
let co = ColliderDesc::new(ground_shape)
.translation(-Vector2::y())
.build(BodyPartHandle(ground_handle, 0));
colliders.insert(co);
colliders.insert_with_parent(co);
*/
/*
@@ -48,10 +46,12 @@ pub fn init_world(testbed: &mut Testbed) {
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build();
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 5.0);
testbed.look_at(point![0.0, 2.5], 5.0);
}

22
benchmarks2d/boxes2.rs
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@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 2.0)
.translation(vector![ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 2.0)
.translation(vector![-ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -53,10 +51,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 2.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -64,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

22
benchmarks2d/capsules2.rs
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@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 4.0)
.translation(vector![ground_size, ground_size * 4.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 4.0)
.translation(vector![-ground_size, ground_size * 4.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -55,10 +53,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shifty + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -66,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

24
benchmarks2d/convex_polygons2.rs
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@@ -1,8 +1,6 @@
use na::Point2;
use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 2.0)
.translation(vector![ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 2.0)
.translation(vector![-ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the convex polygons
@@ -58,18 +56,20 @@ pub fn init_world(testbed: &mut Testbed) {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift * 2.0 + centery + 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point2<f32> = distribution.sample(&mut rng);
let pt: Point<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

19
benchmarks2d/heightfield2.rs
View File

@@ -1,6 +1,5 @@
use na::{DVector, Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use na::DVector;
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector2::new(50.0, 1.0);
let ground_size = Vector::new(50.0, 1.0);
let nsubdivs = 2000;
let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
@@ -28,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -46,15 +45,17 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

14
benchmarks2d/joint_ball2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -34,16 +32,16 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, -fi * shift)
.translation(vector![fk * shift, -fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -51,7 +49,7 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -63,5 +61,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 5.0);
}

18
benchmarks2d/joint_fixed2.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry2, Point2};
use rapier2d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -39,18 +37,18 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(x + fk * shift, y - fi * shift)
.translation(vector![x + fk * shift, y - fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry2::identity(),
Isometry2::translation(0.0, shift),
Isometry::identity(),
Isometry::translation(0.0, shift),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -60,8 +58,8 @@ pub fn init_world(testbed: &mut Testbed) {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new(
Isometry2::identity(),
Isometry2::translation(-shift, 0.0),
Isometry::identity(),
Isometry::translation(-shift, 0.0),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(50.0, 50.0), 5.0);
testbed.look_at(point![50.0, 50.0], 5.0);
}

24
benchmarks2d/joint_prismatic2.rs
View File

@@ -1,6 +1,4 @@
use na::{Point2, Unit, Vector2};
use rapier2d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -25,27 +23,31 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(x, y).build();
let ground = RigidBodyBuilder::new_static()
.translation(vector![x, y])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
for i in 0..num {
let y = y - (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).density(density).build();
colliders.insert(collider, curr_child, &mut bodies);
colliders.insert_with_parent(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector2::new(1.0, 1.0))
UnitVector::new_normalize(vector![1.0, 1.0])
} else {
Unit::new_normalize(Vector2::new(-1.0, 1.0))
UnitVector::new_normalize(vector![-1.0, 1.0])
};
let mut prism =
PrismaticJoint::new(Point2::origin(), axis, Point2::new(0.0, shift), axis);
PrismaticJoint::new(Point::origin(), axis, point![0.0, shift], axis);
prism.limits_enabled = true;
prism.limits[0] = -1.5;
prism.limits[1] = 1.5;
@@ -60,5 +62,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(80.0, 80.0), 15.0);
testbed.look_at(point![80.0, 80.0], 15.0);
}

14
benchmarks2d/pyramid2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -20,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = fi * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -51,5 +51,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 5.0);
testbed.look_at(point![0.0, 2.5], 5.0);
}

2
benchmarks3d/Cargo.toml
View File

@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
[dependencies]
rand = "0.8"
Inflector = "0.11"
nalgebra = "0.26"
nalgebra = "0.27"
[dependencies.rapier_testbed3d]
path = "../build/rapier_testbed3d"

12
benchmarks3d/balls3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -37,10 +35,12 @@ pub fn init_world(testbed: &mut Testbed) {
let density = 0.477;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new(status).translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).density(density).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -49,5 +49,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

16
benchmarks3d/boxes3.rs
View File

@@ -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 cubes
@@ -45,10 +43,12 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz + offset;
// 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);
}
}
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

16
benchmarks3d/capsules3.rs
View File

@@ -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 cubes
@@ -46,10 +44,12 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz + offset;
// 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::capsule_y(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -60,5 +60,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

16
benchmarks3d/ccd3.rs
View File

@@ -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 cubes
@@ -49,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x, y, z)
.linvel(0.0, -1000.0, 0.0)
.translation(vector![x, y, z])
.linvel(vector![0.0, -1000.0, 0.0])
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
@@ -65,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
_ => ColliderBuilder::capsule_y(rad, rad),
};
colliders.insert(collider.build(), handle, &mut bodies);
colliders.insert_with_parent(collider.build(), handle, &mut bodies);
}
}
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

24
benchmarks3d/compound3.rs
View File

@@ -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 cubes
@@ -45,18 +43,20 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift * 2.0 - centerz + offset;
// 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 collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(rad * 10.0, rad * 10.0, 0.0)
.translation(vector![rad * 10.0, rad * 10.0, 0.0])
.build();
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(-rad * 10.0, rad * 10.0, 0.0)
.translation(vector![-rad * 10.0, rad * 10.0, 0.0])
.build();
colliders.insert(collider1, handle, &mut bodies);
colliders.insert(collider2, handle, &mut bodies);
colliders.insert(collider3, handle, &mut bodies);
colliders.insert_with_parent(collider1, handle, &mut bodies);
colliders.insert_with_parent(collider2, handle, &mut bodies);
colliders.insert_with_parent(collider3, handle, &mut bodies);
}
}
@@ -67,5 +67,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

18
benchmarks3d/convex_polyhedron3.rs
View File

@@ -1,8 +1,6 @@
use na::Point3;
use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
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) {
@@ -20,11 +18,11 @@ 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 cubes
@@ -53,17 +51,19 @@ pub fn init_world(testbed: &mut Testbed) {
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point3<f32> = distribution.sample(&mut rng);
let pt: Point<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
// 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::round_convex_hull(&points, border_rad)
.unwrap()
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

19
benchmarks3d/heightfield3.rs
View File

@@ -1,6 +1,5 @@
use na::{ComplexField, DMatrix, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use na::ComplexField;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector3::new(200.0, 1.0, 200.0);
let ground_size = vector![200.0, 1.0, 200.0];
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -34,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -55,15 +54,17 @@ 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);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -73,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

17
benchmarks3d/joint_ball3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -29,16 +27,16 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, 0.0, fi * shift)
.translation(vector![fk * shift, 0.0, fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -46,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -58,8 +56,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(-110.0, -46.0, 170.0),
Point3::new(54.0, -38.0, 29.0),
);
testbed.look_at(point![-110.0, -46.0, 170.0], point![54.0, -38.0, 29.0]);
}

21
benchmarks3d/joint_fixed3.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry3, Point3};
use rapier3d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -42,18 +40,18 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(x + fk * shift, y, z + fi * shift)
.translation(vector![x + fk * shift, y, z + fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry3::identity(),
Isometry3::translation(0.0, 0.0, -shift),
Isometry::identity(),
Isometry::translation(0.0, 0.0, -shift),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -63,8 +61,8 @@ pub fn init_world(testbed: &mut Testbed) {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new(
Isometry3::identity(),
Isometry3::translation(-shift, 0.0, 0.0),
Isometry::identity(),
Isometry::translation(-shift, 0.0, 0.0),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -80,8 +78,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(-38.0, 14.0, 108.0),
Point3::new(46.0, 12.0, 23.0),
);
testbed.look_at(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
}

31
benchmarks3d/joint_prismatic3.rs
View File

@@ -1,6 +1,4 @@
use na::{Point3, Unit, Vector3};
use rapier3d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -24,33 +22,37 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(x, y, z).build();
let ground = RigidBodyBuilder::new_static()
.translation(vector![x, y, z])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
for i in 0..num {
let z = z + (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
colliders.insert(collider, curr_child, &mut bodies);
colliders.insert_with_parent(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
} else {
Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let z = Vector3::z();
let z = Vector::z();
let mut prism = PrismaticJoint::new(
Point3::origin(),
Point::origin(),
axis,
z,
Point3::new(0.0, 0.0, -shift),
point![0.0, 0.0, -shift],
axis,
z,
);
@@ -69,8 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(262.0, 63.0, 124.0),
Point3::new(101.0, 4.0, -3.0),
);
testbed.look_at(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
}

37
benchmarks3d/joint_revolute3.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RevoluteJoint, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -22,20 +20,20 @@ pub fn init_world(testbed: &mut Testbed) {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static()
.translation(x, y, 0.0)
.translation(vector![x, y, 0.0])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
for i in 0..num {
// Create four bodies.
let z = i as f32 * shift * 2.0 + shift;
let positions = [
Isometry3::translation(x, y, z),
Isometry3::translation(x + shift, y, z),
Isometry3::translation(x + shift, y, z + shift),
Isometry3::translation(x, y, z + shift),
Isometry::translation(x, y, z),
Isometry::translation(x + shift, y, z),
Isometry::translation(x + shift, y, z + shift),
Isometry::translation(x, y, z + shift),
];
let mut handles = [curr_parent; 4];
@@ -48,19 +46,19 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
colliders.insert(collider, handles[k], &mut bodies);
colliders.insert_with_parent(collider, handles[k], &mut bodies);
}
// Setup four joints.
let o = Point3::origin();
let x = Vector3::x_axis();
let z = Vector3::z_axis();
let o = Point::origin();
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
];
joints.insert(&mut bodies, curr_parent, handles[0], revs[0]);
@@ -77,8 +75,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(478.0, 83.0, 228.0),
Point3::new(134.0, 83.0, -116.0),
);
testbed.look_at(point![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
}

38
benchmarks3d/keva3.rs
View File

@@ -1,14 +1,12 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn build_block(
testbed: &mut Testbed,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
half_extents: Vector3<f32>,
shift: Vector3<f32>,
half_extents: Vector<f32>,
shift: Vector<f32>,
mut numx: usize,
numy: usize,
mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
let block_width = 2.0 * half_extents.z * numx as f32;
let block_height = 2.0 * half_extents.y * numy as f32;
let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
let mut color0 = Point3::new(0.7, 0.5, 0.9);
let mut color1 = Point3::new(0.6, 1.0, 0.6);
let mut color0 = [0.7, 0.5, 0.9];
let mut color1 = [0.6, 1.0, 0.6];
for i in 0..numy {
std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z,
)
z + dim.z + shift.z
])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
i as f32 * dim.x * 2.0 + dim.x + shift.x,
dim.y + shift.y + block_height,
j as f32 * dim.z * 2.0 + dim.z + shift.z,
)
j as f32 * dim.z * 2.0 + dim.z + shift.z
])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
}
@@ -94,16 +92,16 @@ 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 cubes
*/
let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
let mut block_height = 0.0;
// These should only be set to odd values otherwise
// the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
&mut bodies,
&mut colliders,
half_extents,
Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
vector![-block_width / 2.0, block_height, -block_width / 2.0],
numx,
numy,
numz,
@@ -135,5 +133,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

24
benchmarks3d/pyramid3.rs
View File

@@ -1,14 +1,12 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.5;
for i in 0usize..stack_height {
@@ -24,12 +22,14 @@ fn create_pyramid(
- stack_height as f32 * half_extents.z;
// 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 rigid_body_handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, rigid_body_handle, bodies);
colliders.insert_with_parent(collider, rigid_body_handle, bodies);
}
}
}
@@ -50,22 +50,22 @@ 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 ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
*/
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let hext = Vector::repeat(cube_size);
let bottomy = cube_size;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(0.0, bottomy, 0.0),
vector![0.0, bottomy, 0.0],
24,
hext,
);
@@ -74,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

60
benchmarks3d/stacks3.rs
View File

@@ -1,15 +1,13 @@
use na::{Point3, Translation3, UnitQuaternion, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_tower_circle(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
nsubdivs: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
@@ -20,16 +18,16 @@ fn create_tower_circle(
let fj = j as f32;
let fi = i as f32;
let y = fi * shift.y;
let pos = Translation3::from(offset)
* UnitQuaternion::new(Vector3::y() * (fi / 2.0 + fj) * ang_step)
* Translation3::new(0.0, y, radius);
let pos = Translation::from(offset)
* Rotation::new(Vector::y() * (fi / 2.0 + fj) * ang_step)
* Translation::new(0.0, y, radius);
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -37,9 +35,9 @@ fn create_tower_circle(
fn create_wall(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
@@ -52,11 +50,13 @@ fn create_wall(
- stack_height as f32 * half_extents.z;
// 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(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -64,9 +64,9 @@ fn create_wall(
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.0;
@@ -83,11 +83,13 @@ fn create_pyramid(
- stack_height as f32 * half_extents.z;
// 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(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -108,71 +110,71 @@ 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 cubes
*/
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let hext = Vector::repeat(cube_size);
let bottomy = cube_size * 50.0;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-110.0, bottomy, 0.0),
vector![-110.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-80.0, bottomy, 0.0),
vector![-80.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-50.0, bottomy, 0.0),
vector![-50.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-20.0, bottomy, 0.0),
vector![-20.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(-2.0, bottomy, 0.0),
vector![-2.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(4.0, bottomy, 0.0),
vector![4.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(10.0, bottomy, 0.0),
vector![10.0, bottomy, 0.0],
12,
hext,
);
create_tower_circle(
&mut bodies,
&mut colliders,
Vector3::new(25.0, bottomy, 0.0),
vector![25.0, bottomy, 0.0],
8,
24,
hext,
@@ -182,5 +184,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

19
benchmarks3d/trimesh3.rs
View File

@@ -1,6 +1,5 @@
use na::{ComplexField, DMatrix, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField};
use na::ComplexField;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector3::new(200.0, 1.0, 200.0);
let ground_size = vector![200.0, 1.0, 200.0];
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -39,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -60,15 +59,17 @@ 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);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -78,5 +79,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

10
build/rapier2d-f64/Cargo.toml
View File

@@ -44,13 +44,13 @@ required-features = [ "dim2", "f64" ]
vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ]}
num-traits = "0.2"
nalgebra = "0.26"
parry2d-f64 = "0.4"
simba = "0.4"
approx = "0.4"
nalgebra = "0.27"
parry2d-f64 = "0.5"
simba = "0.5"
approx = "0.5"
rayon = { version = "1", optional = true }
crossbeam = "0.8"
arrayvec = "0.6"
arrayvec = "0.7"
bit-vec = "0.6"
rustc-hash = "1"
serde = { version = "1", features = [ "derive" ], optional = true }

10
build/rapier2d/Cargo.toml
View File

@@ -44,13 +44,13 @@ required-features = [ "dim2", "f32" ]
vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ]}
num-traits = "0.2"
nalgebra = "0.26"
parry2d = "0.4"
simba = "0.4"
approx = "0.4"
nalgebra = "0.27"
parry2d = "0.5"
simba = "0.5"
approx = "0.5"
rayon = { version = "1", optional = true }
crossbeam = "0.8"
arrayvec = "0.6"
arrayvec = "0.7"
bit-vec = "0.6"
rustc-hash = "1"
serde = { version = "1", features = [ "derive" ], optional = true }

10
build/rapier3d-f64/Cargo.toml
View File

@@ -44,13 +44,13 @@ required-features = [ "dim3", "f64" ]
vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ]}
num-traits = "0.2"
nalgebra = "0.26"
parry3d-f64 = "0.4"
simba = "0.4"
approx = "0.4"
nalgebra = "0.27"
parry3d-f64 = "0.5"
simba = "0.5"
approx = "0.5"
rayon = { version = "1", optional = true }
crossbeam = "0.8"
arrayvec = "0.6"
arrayvec = "0.7"
bit-vec = "0.6"
rustc-hash = "1"
serde = { version = "1", features = [ "derive" ], optional = true }

10
build/rapier3d/Cargo.toml
View File

@@ -44,13 +44,13 @@ required-features = [ "dim3", "f32" ]
vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ]}
num-traits = "0.2"
nalgebra = "0.26"
parry3d = "0.4"
simba = "0.4"
approx = "0.4"
nalgebra = "0.27"
parry3d = "0.5"
simba = "0.5"
approx = "0.5"
rayon = { version = "1", optional = true }
crossbeam = "0.8"
arrayvec = "0.6"
arrayvec = "0.7"
bit-vec = "0.6"
rustc-hash = "1"
serde = { version = "1", features = [ "derive" ], optional = true }

11
build/rapier_testbed2d/Cargo.toml
View File

@@ -26,23 +26,22 @@ other-backends = [ "wrapped2d", "nphysics2d" ]
[dependencies]
nalgebra = { version = "0.26", features = [ "rand" ] }
nalgebra = { version = "0.27", features = [ "rand" ] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]}
bitflags = "1"
num_cpus = { version = "1", optional = true }
wrapped2d = { version = "0.4", optional = true }
parry2d = "0.4"
ncollide2d = "0.29"
nphysics2d = { version = "0.21", optional = true }
parry2d = "0.5"
ncollide2d = "0.30"
nphysics2d = { version = "0.22", optional = true }
crossbeam = "0.8"
bincode = "1"
Inflector = "0.11"
md5 = "0.7"
bevy_egui = "0.4"
bevy-orbit-controls = "2"
bevy_egui = "0.5"
# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]

11
build/rapier_testbed3d/Cargo.toml
View File

@@ -25,16 +25,16 @@ parallel = [ "rapier3d/parallel", "num_cpus" ]
other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
[dependencies]
nalgebra = { version = "0.26", features = [ "rand" ] }
nalgebra = { version = "0.27", features = [ "rand" ] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]}
bitflags = "1"
glam = { version = "0.12", optional = true }
num_cpus = { version = "1", optional = true }
parry3d = "0.4"
ncollide3d = "0.29"
nphysics3d = { version = "0.21", optional = true }
parry3d = "0.5"
ncollide3d = "0.30"
nphysics3d = { version = "0.22", optional = true }
physx = { version = "0.11", optional = true }
physx-sys = { version = "0.4", optional = true }
crossbeam = "0.8"
@@ -43,8 +43,7 @@ md5 = "0.7"
Inflector = "0.11"
serde = { version = "1", features = [ "derive" ] }
bevy_egui = "0.4"
bevy-orbit-controls = "2"
bevy_egui = "0.5"
# Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies]

2
examples2d/Cargo.toml
View File

@@ -15,7 +15,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
[dependencies]
rand = "0.8"
Inflector = "0.11"
nalgebra = "0.26"
nalgebra = "0.27"
lyon = "0.17"
usvg = "0.13"

10
examples2d/add_remove2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -12,13 +10,13 @@ pub fn init_world(testbed: &mut Testbed) {
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, _, _| {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0)
.translation(vector![0.0, 10.0])
.build();
let handle = physics.bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
physics
.colliders
.insert(collider, handle, &mut physics.bodies);
.insert_with_parent(collider, handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -48,5 +46,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 20.0);
testbed.look_at(point![0.0, 0.0], 20.0);
}

53
examples2d/ccd2.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry2, Point2, Point3};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,24 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(-3.0, 0.0)
.translation(vector![-3.0, 0.0])
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(6.0, 0.0)
.translation(vector![6.0, 0.0])
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(2.5, 0.0)
.translation(vector![2.5, 0.0])
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies);
let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the shapes
@@ -45,9 +44,9 @@ pub fn init_world(testbed: &mut Testbed) {
let radx = 0.4;
let rady = 0.05;
let delta1 = Isometry2::translation(0.0, radx - rady);
let delta2 = Isometry2::translation(-radx + rady, 0.0);
let delta3 = Isometry2::translation(radx - rady, 0.0);
let delta1 = Isometry::translation(0.0, radx - rady);
let delta2 = Isometry::translation(-radx + rady, 0.0);
let delta3 = Isometry::translation(radx - rady, 0.0);
let mut compound_parts = Vec::new();
let vertical = SharedShape::cuboid(rady, radx);
@@ -70,8 +69,8 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x, y)
.linvel(100.0, -10.0)
.translation(vector![x, y])
.linvel(vector![100.0, -10.0])
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
@@ -80,12 +79,12 @@ pub fn init_world(testbed: &mut Testbed) {
// let collider = ColliderBuilder::new(part.1.clone())
// .position_wrt_parent(part.0)
// .build();
// colliders.insert(collider, handle, &mut bodies);
// colliders.insert_with_parent(collider, handle, &mut bodies);
// }
let collider = ColliderBuilder::new(compound_shape.clone()).build();
// let collider = ColliderBuilder::cuboid(radx, rady).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -93,13 +92,23 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
[1.0, 1.0, 0.0]
} else {
Point3::new(0.5, 0.5, 1.0)
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
let parent_handle1 = physics
.colliders
.get(prox.collider1)
.unwrap()
.parent()
.unwrap();
let parent_handle2 = physics
.colliders
.get(prox.collider2)
.unwrap()
.parent()
.unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
@@ -115,5 +124,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 20.0);
testbed.look_at(point![0.0, 2.5], 20.0);
}

33
examples2d/collision_groups2.rs
View File

@@ -1,6 +1,4 @@
use na::{Point2, Point3};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
use rapier2d::prelude::*;
use rapier_testbed2d::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)
.translation(vector![0.0, -ground_height])
.build();
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, floor_handle, &mut bodies);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
/*
* Setup groups
@@ -34,23 +32,24 @@ pub fn init_world(testbed: &mut Testbed) {
* A green floor that will collide with the GREEN group only.
*/
let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
.translation(0.0, 1.0)
.translation(vector![0.0, 1.0])
.collision_groups(GREEN_GROUP)
.build();
let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
let green_collider_handle =
colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
testbed.set_initial_collider_color(green_collider_handle, [0.0, 1.0, 0.0]);
/*
* A blue floor that will collide with the BLUE group only.
*/
let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
.translation(0.0, 2.0)
.translation(vector![0.0, 2.0])
.collision_groups(BLUE_GROUP)
.build();
let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
/*
* Create the cubes
@@ -69,17 +68,19 @@ pub fn init_world(testbed: &mut Testbed) {
// Alternate between the green and blue groups.
let (group, color) = if i % 2 == 0 {
(GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
(GREEN_GROUP, [0.0, 1.0, 0.0])
} else {
(BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
(BLUE_GROUP, [0.0, 0.0, 1.0])
};
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad)
.collision_groups(group)
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, color);
}
@@ -89,5 +90,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 100.0);
testbed.look_at(point![0.0, 1.0], 100.0);
}

24
examples2d/convex_polygons2.rs
View File

@@ -1,8 +1,6 @@
use na::Point2;
use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 2.0)
.translation(vector![ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 2.0)
.translation(vector![-ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the convex polygons
@@ -58,18 +56,20 @@ pub fn init_world(testbed: &mut Testbed) {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift * 2.0 + centery + 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point2<f32> = distribution.sample(&mut rng);
let pt: Point<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

14
examples2d/damping2.rs
View File

@@ -1,6 +1,4 @@
use na::{Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -24,8 +22,8 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rb = RigidBodyBuilder::new_dynamic()
.translation(x, y)
.linvel(x * 10.0, y * 10.0)
.translation(vector![x, y])
.linvel(vector![x * 10.0, y * 10.0])
.angvel(100.0)
.linear_damping((i + 1) as f32 * subdiv * 10.0)
.angular_damping((num - i) as f32 * subdiv * 10.0)
@@ -34,12 +32,12 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the collider.
let co = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(co, rb_handle, &mut bodies);
colliders.insert_with_parent(co, rb_handle, &mut bodies);
}
/*
* Set up the testbed.
*/
testbed.set_world_with_params(bodies, colliders, joints, Vector2::zeros(), ());
testbed.look_at(Point2::new(3.0, 2.0), 50.0);
testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
testbed.look_at(point![3.0, 2.0], 50.0);
}

14
examples2d/debug_box_ball2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -16,25 +14,25 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let rad = 1.0;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -rad)
.translation(vector![0.0, -rad])
.rotation(std::f32::consts::PI / 4.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 3.0 * rad)
.translation(vector![0.0, 3.0 * rad])
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 50.0);
testbed.look_at(point![0.0, 0.0], 50.0);
}

19
examples2d/heightfield2.rs
View File

@@ -1,6 +1,5 @@
use na::{DVector, Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use na::DVector;
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector2::new(50.0, 1.0);
let ground_size = Vector::new(50.0, 1.0);
let nsubdivs = 2000;
let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
@@ -28,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -46,15 +45,17 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 10.0);
testbed.look_at(point![0.0, 0.0], 10.0);
}

16
examples2d/joints2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -15,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Create the balls
*/
// Build the rigid body.
// NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
// NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
// in order to be able to compare rapier with Box2D,
// we set it to 0.4.
let rad = 0.4;
@@ -37,16 +35,16 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, -fi * shift)
.translation(vector![fk * shift, -fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -54,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -66,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 20.0);
}

18
examples2d/locked_rotations2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
// This shows a bug when a cylinder is in contact with a very large
@@ -21,38 +19,38 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height)
.translation(vector![0.0, -ground_height])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* A rectangle that only rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 3.0)
.translation(vector![0.0, 3.0])
.lock_translations()
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 0.6).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* A tilted capsule that cannot rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 5.0)
.translation(vector![0.0, 5.0])
.rotation(1.0)
.lock_rotations()
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 40.0);
testbed.look_at(point![0.0, 0.0], 40.0);
}

39
examples2d/one_way_platforms2.rs
View File

@@ -1,7 +1,4 @@
use na::{Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderHandle, ColliderSet};
use rapier2d::pipeline::{ContactModificationContext, PhysicsHooks, PhysicsHooksFlags};
use rapier2d::prelude::*;
use rapier_testbed2d::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.collider_handle2 == self.platform1 then the allowed normal is -y.
// - If context.collider_handle1 == self.platform2 then its allowed normal +y needs to be flipped to -y.
// - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y.
let mut allowed_local_n1 = Vector2::zeros();
let mut allowed_local_n1 = Vector::zeros();
if context.collider1 == self.platform1 {
allowed_local_n1 = Vector2::y();
allowed_local_n1 = Vector::y();
} else if context.collider2 == self.platform1 {
// Flip the allowed direction.
allowed_local_n1 = -Vector2::y();
allowed_local_n1 = -Vector::y();
}
if context.collider1 == self.platform2 {
allowed_local_n1 = -Vector2::y();
allowed_local_n1 = -Vector::y();
} else if context.collider2 == self.platform2 {
// Flip the allowed direction.
allowed_local_n1 = Vector2::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(25.0, 0.5)
.translation(30.0, 2.0)
.modify_solver_contacts(true)
.translation(vector![30.0, 2.0])
.active_hooks(ActiveHooks::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(25.0, 0.5)
.translation(-30.0, -2.0)
.modify_solver_contacts(true)
.translation(vector![-30.0, -2.0])
.active_hooks(ActiveHooks::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(1.5, 2.0).build();
let body = RigidBodyBuilder::new_dynamic()
.translation(20.0, 10.0)
.translation(vector![20.0, 10.0])
.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,
Vector2::new(0.0, -9.81),
vector![0.0, -9.81],
physics_hooks,
);
testbed.look_at(Point2::new(0.0, 0.0), 20.0);
testbed.look_at(point![0.0, 0.0], 20.0);
}

58
examples2d/platform2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::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)
.translation(vector![0.0, -ground_height])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the boxes
@@ -40,47 +38,57 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
/*
* Setup a kinematic rigid body.
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic()
.translation(-10.0 * rad, 1.5 + 0.8)
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
.translation(vector![-10.0 * rad, 1.5 + 0.8])
.build();
let platform_handle = bodies.insert(platform_body);
let velocity_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
colliders.insert(collider, platform_handle, &mut bodies);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based()
.translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8])
.build();
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
/*
* Setup a callback to control the platform.
*/
testbed.add_callback(move |_, physics, _, run_state| {
let platform = physics.bodies.get_mut(platform_handle).unwrap();
let mut next_pos = *platform.position();
let velocity = vector![run_state.time.sin() * 5.0, (run_state.time * 5.0).sin()];
let dt = 0.016;
next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
next_pos.translation.vector.x += run_state.time.sin() * 5.0 * dt;
if next_pos.translation.vector.x >= rad * 10.0 {
next_pos.translation.vector.x -= dt;
}
if next_pos.translation.vector.x <= -rad * 10.0 {
next_pos.translation.vector.x += dt;
// Update the velocity-based kinematic body by setting its velocity.
if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
platform.set_linvel(velocity, true);
}
platform.set_next_kinematic_position(next_pos);
// Update the position-based kinematic body by setting its next position.
if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
let mut next_tra = *platform.translation();
next_tra += velocity * physics.integration_parameters.dt;
platform.set_next_kinematic_translation(next_tra);
}
});
/*
* Run the simulation.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 40.0);
testbed.look_at(point![0.0, 1.0], 40.0);
}

23
examples2d/polyline2.rs
View File

@@ -1,6 +1,5 @@
use na::{ComplexField, Point2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use na::ComplexField;
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -19,18 +18,18 @@ pub fn init_world(testbed: &mut Testbed) {
let step_size = ground_size / (nsubdivs as f32);
let mut points = Vec::new();
points.push(Point2::new(-ground_size / 2.0, 40.0));
points.push(point![-ground_size / 2.0, 40.0]);
for i in 1..nsubdivs - 1 {
let x = -ground_size / 2.0 + i as f32 * step_size;
let y = ComplexField::cos(i as f32 * step_size) * 2.0;
points.push(Point2::new(x, y));
points.push(point![x, y]);
}
points.push(Point2::new(ground_size / 2.0, 40.0));
points.push(point![ground_size / 2.0, 40.0]);
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::polyline(points, None).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -48,15 +47,17 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -65,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 0.0), 10.0);
testbed.look_at(point![0.0, 0.0], 10.0);
}

14
examples2d/pyramid2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -20,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = fi * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -51,5 +51,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 20.0);
testbed.look_at(point![0.0, 2.5], 20.0);
}

14
examples2d/restitution2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -18,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 1.0;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height)
.translation(vector![0.0, -ground_height])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height)
.restitution(1.0)
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let num = 10;
let rad = 0.5;
@@ -33,13 +31,13 @@ pub fn init_world(testbed: &mut Testbed) {
for i in 0..=num {
let x = (i as f32) - num as f32 / 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x * 2.0, 10.0 * (j as f32 + 1.0))
.translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad)
.restitution((i as f32) / (num as f32))
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -47,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 25.0);
testbed.look_at(point![0.0, 1.0], 25.0);
}

41
examples2d/sensor2.rs
View File

@@ -1,6 +1,4 @@
use na::{Point2, Point3};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::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)
.translation(vector![0.0, -ground_height])
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create some boxes.
@@ -38,12 +36,14 @@ pub fn init_world(testbed: &mut Testbed) {
let y = 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
}
/*
@@ -52,33 +52,38 @@ pub fn init_world(testbed: &mut Testbed) {
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0)
.translation(vector![0.0, 10.0])
.build();
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which
// other colliders can touch.
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, sensor_handle, &mut bodies);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't
// want it to contribute to the rigid body mass.
let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
colliders.insert(sensor_collider, sensor_handle, &mut bodies);
let sensor_collider = ColliderBuilder::ball(rad * 5.0)
.density(0.0)
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
[1.0, 1.0, 0.0]
} else {
Point3::new(0.5, 0.5, 1.0)
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
let parent_handle1 = physics.colliders[prox.collider1].parent().unwrap();
let parent_handle2 = physics.colliders[prox.collider2].parent().unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
@@ -94,5 +99,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 100.0);
testbed.look_at(point![0.0, 1.0], 100.0);
}

22
examples2d/trimesh2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
use lyon::math::Point;
@@ -25,23 +23,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size)
.translation(vector![ground_size, ground_size])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size)
.translation(vector![-ground_size, ground_size])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the trimeshes from a tesselated SVG.
@@ -83,18 +81,18 @@ pub fn init_world(testbed: &mut Testbed) {
let vertices: Vec<_> = mesh
.vertices
.iter()
.map(|v| Point2::new(v.position[0] * sx, v.position[1] * -sy))
.map(|v| point![v.position[0] * sx, v.position[1] * -sy])
.collect();
for k in 0..5 {
let collider =
ColliderBuilder::trimesh(vertices.clone(), indices.clone()).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0)
.translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
.rotation(angle)
.build();
let handle = bodies.insert(rigid_body);
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
ith += 1;
@@ -106,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 20.0), 17.0);
testbed.look_at(point![0.0, 20.0], 17.0);
}
const RAPIER_SVG_STR: &'static str = r#"

2
examples3d/Cargo.toml
View File

@@ -16,7 +16,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
rand = "0.8"
getrandom = { version = "0.2", features = [ "js" ] }
Inflector = "0.11"
nalgebra = "0.26"
nalgebra = "0.27"
wasm-bindgen = "0.2"
obj-rs = { version = "0.6", default-features = false }

71
examples3d/ccd3.rs
View File

@@ -1,15 +1,13 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_wall(
testbed: &mut Testbed,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.0;
let mut k = 0;
@@ -23,22 +21,18 @@ fn create_wall(
- stack_height as f32 * half_extents.z;
// 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(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
k += 1;
if k % 2 == 0 {
testbed.set_initial_body_color(
handle,
Point3::new(255. / 255., 131. / 255., 244.0 / 255.),
);
testbed.set_initial_body_color(handle, [255. / 255., 131. / 255., 244.0 / 255.]);
} else {
testbed.set_initial_body_color(
handle,
Point3::new(131. / 255., 255. / 255., 244.0 / 255.),
);
testbed.set_initial_body_color(handle, [131. / 255., 255. / 255., 244.0 / 255.]);
}
}
}
@@ -59,11 +53,11 @@ 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 ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the pyramids.
@@ -79,18 +73,18 @@ pub fn init_world(testbed: &mut Testbed) {
testbed,
&mut bodies,
&mut colliders,
Vector3::new(x, shift_y, 0.0),
vector![x, shift_y, 0.0],
num_z,
Vector3::new(0.5, 0.5, 1.0),
vector![0.5, 0.5, 1.0],
);
create_wall(
testbed,
&mut bodies,
&mut colliders,
Vector3::new(x, shift_y, shift_z),
vector![x, shift_y, shift_z],
num_z,
Vector3::new(0.5, 0.5, 1.0),
vector![0.5, 0.5, 1.0],
);
}
@@ -102,37 +96,48 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::ball(1.0)
.density(10.0)
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.linvel(1000.0, 0.0, 0.0)
.translation(-20.0, shift_y + 2.0, 0.0)
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, 0.0])
.ccd_enabled(true)
.build();
let sensor_handle = bodies.insert(rigid_body);
colliders.insert(collider, sensor_handle, &mut bodies);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// Second rigid-body with CCD enabled.
let collider = ColliderBuilder::ball(1.0).density(10.0).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.linvel(1000.0, 0.0, 0.0)
.translation(-20.0, shift_y + 2.0, shift_z)
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, shift_z])
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
colliders.insert(collider.clone(), handle, &mut bodies);
testbed.set_initial_body_color(handle, Point3::new(0.2, 0.2, 1.0));
colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
testbed.set_initial_body_color(handle, [0.2, 0.2, 1.0]);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
[1.0, 1.0, 0.0]
} else {
Point3::new(0.5, 0.5, 1.0)
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
let parent_handle1 = physics
.colliders
.get(prox.collider1)
.unwrap()
.parent()
.unwrap();
let parent_handle2 = physics
.colliders
.get(prox.collider2)
.unwrap()
.parent()
.unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
@@ -149,5 +154,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

33
examples3d/collision_groups3.rs
View File

@@ -1,6 +1,4 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
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 floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, floor_handle, &mut bodies);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
/*
* Setup groups
@@ -34,23 +32,24 @@ pub fn init_world(testbed: &mut Testbed) {
* A green floor that will collide with the GREEN group only.
*/
let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
.translation(0.0, 1.0, 0.0)
.translation(vector![0.0, 1.0, 0.0])
.collision_groups(GREEN_GROUP)
.build();
let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
let green_collider_handle =
colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
testbed.set_initial_collider_color(green_collider_handle, [0.0, 1.0, 0.0]);
/*
* A blue floor that will collide with the BLUE group only.
*/
let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
.translation(0.0, 2.0, 0.0)
.translation(vector![0.0, 2.0, 0.0])
.collision_groups(BLUE_GROUP)
.build();
let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
/*
* Create the cubes
@@ -72,17 +71,19 @@ pub fn init_world(testbed: &mut Testbed) {
// Alternate between the green and blue groups.
let (group, color) = if k % 2 == 0 {
(GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
(GREEN_GROUP, [0.0, 1.0, 0.0])
} else {
(BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
(BLUE_GROUP, [0.0, 0.0, 1.0])
};
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)
.collision_groups(group)
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, color);
}
@@ -93,5 +94,5 @@ pub fn init_world(testbed: &mut Testbed) {
* 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());
}

32
examples3d/compound3.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry3, Point3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
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 cubes
@@ -46,40 +44,42 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift * 2.0 - centerz + offset;
// 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);
// First option: attach several colliders to a single rigid-body.
if j < numy / 2 {
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(rad * 10.0, rad * 10.0, 0.0)
.translation(vector![rad * 10.0, rad * 10.0, 0.0])
.build();
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(-rad * 10.0, rad * 10.0, 0.0)
.translation(vector![-rad * 10.0, rad * 10.0, 0.0])
.build();
colliders.insert(collider1, handle, &mut bodies);
colliders.insert(collider2, handle, &mut bodies);
colliders.insert(collider3, handle, &mut bodies);
colliders.insert_with_parent(collider1, handle, &mut bodies);
colliders.insert_with_parent(collider2, handle, &mut bodies);
colliders.insert_with_parent(collider3, handle, &mut bodies);
} else {
// Second option: create a compound shape and attach it to a single collider.
let shapes = vec![
(
Isometry3::identity(),
Isometry::identity(),
SharedShape::cuboid(rad * 10.0, rad, rad),
),
(
Isometry3::translation(rad * 10.0, rad * 10.0, 0.0),
Isometry::translation(rad * 10.0, rad * 10.0, 0.0),
SharedShape::cuboid(rad, rad * 10.0, rad),
),
(
Isometry3::translation(-rad * 10.0, rad * 10.0, 0.0),
Isometry::translation(-rad * 10.0, rad * 10.0, 0.0),
SharedShape::cuboid(rad, rad * 10.0, rad),
),
];
let collider = ColliderBuilder::compound(shapes).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -91,5 +91,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

18
examples3d/convex_decomposition3.rs
View File

@@ -1,8 +1,6 @@
use na::Point3;
use obj::raw::object::Polygon;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
use rapier3d::parry::bounding_volume;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
use std::fs::File;
use std::io::BufReader;
@@ -26,11 +24,11 @@ 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 convex decompositions.
@@ -52,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
let mut vertices: Vec<_> = model
.positions
.iter()
.map(|v| Point3::new(v.0, v.1, v.2))
.map(|v| point![v.0, v.1, v.2])
.collect();
use std::iter::FromIterator;
let indices: Vec<_> = model
@@ -90,12 +88,14 @@ pub fn init_world(testbed: &mut Testbed) {
let y = (igeom / width) as f32 * shift + 4.0;
let z = k as f32 * shift;
let body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(body);
for shape in &shapes {
let collider = ColliderBuilder::new(shape.clone()).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -105,7 +105,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}
fn models() -> Vec<String> {

18
examples3d/convex_polyhedron3.rs
View File

@@ -1,8 +1,6 @@
use na::Point3;
use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
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) {
@@ -20,11 +18,11 @@ 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 polyhedra
@@ -50,17 +48,19 @@ pub fn init_world(testbed: &mut Testbed) {
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point3<f32> = distribution.sample(&mut rng);
let pt: Point<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
// 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::round_convex_hull(&points, border_rad)
.unwrap()
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -69,5 +69,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin());
testbed.look_at(point![30.0, 30.0, 30.0], Point::origin());
}

16
examples3d/damping3.rs
View File

@@ -1,6 +1,4 @@
use na::{Point3, Vector3};
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) {
@@ -24,9 +22,9 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rb = RigidBodyBuilder::new_dynamic()
.translation(x, y, 0.0)
.linvel(x * 10.0, y * 10.0, 0.0)
.angvel(Vector3::z() * 100.0)
.translation(vector![x, y, 0.0])
.linvel(vector![x * 10.0, y * 10.0, 0.0])
.angvel(Vector::z() * 100.0)
.linear_damping((i + 1) as f32 * subdiv * 10.0)
.angular_damping((num - i) as f32 * subdiv * 10.0)
.build();
@@ -34,12 +32,12 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the collider.
let co = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(co, rb_handle, &mut bodies);
colliders.insert_with_parent(co, rb_handle, &mut bodies);
}
/*
* Set up the testbed.
*/
testbed.set_world_with_params(bodies, colliders, joints, Vector3::zeros(), ());
testbed.look_at(Point3::new(2.0, 2.5, 20.0), Point3::new(2.0, 2.5, 0.0));
testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
testbed.look_at(point![2.0, 2.5, 20.0], point![2.0, 2.5, 0.0]);
}

22
examples3d/debug_add_remove_collider3.rs
View File

@@ -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) {
@@ -17,22 +15,23 @@ 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 ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build();
let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
let mut ground_collider_handle =
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(0.0, 0.2, 0.0)
.translation(vector![0.0, 0.2, 0.0])
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
colliders.insert(collider, ball_handle, &mut bodies);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
testbed.add_callback(move |_, physics, _, _| {
// Remove then re-add the ground collider.
@@ -46,14 +45,15 @@ pub fn init_world(testbed: &mut Testbed) {
true,
)
.unwrap();
ground_collider_handle = physics
.colliders
.insert(coll, ground_handle, &mut physics.bodies);
ground_collider_handle =
physics
.colliders
.insert_with_parent(coll, ground_handle, &mut physics.bodies);
});
/*
* 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());
}

14
examples3d/debug_big_colliders3.rs
View File

@@ -1,6 +1,4 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, SharedShape};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -16,9 +14,9 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis()));
let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis()));
let collider = ColliderBuilder::new(halfspace).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let mut curr_y = 0.0;
let mut curr_width = 10_000.0;
@@ -28,11 +26,11 @@ pub fn init_world(testbed: &mut Testbed) {
curr_y += curr_height * 4.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, curr_y, 0.0)
.translation(vector![0.0, curr_y, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
curr_width /= 5.0;
}
@@ -41,5 +39,5 @@ pub fn init_world(testbed: &mut Testbed) {
* 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());
}

16
examples3d/debug_boxes3.rs
View File

@@ -1,6 +1,4 @@
use na::{Point3, Vector3};
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) {
@@ -19,28 +17,28 @@ pub fn init_world(testbed: &mut Testbed) {
for _ in 0..6 {
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);
}
// Build the dynamic box rigid body.
for _ in 0..6 {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(1.1, 0.0, 0.0)
.rotation(Vector3::new(0.8, 0.2, 0.1))
.translation(vector![1.1, 0.0, 0.0])
.rotation(vector![0.8, 0.2, 0.1])
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
/*
* 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());
}

16
examples3d/debug_cylinder3.rs
View File

@@ -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;
// This shows a bug when a cylinder is in contact with a very large
@@ -21,11 +19,11 @@ 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 cubes
@@ -47,14 +45,16 @@ pub fn init_world(testbed: &mut Testbed) {
let z = -centerz + offset;
// 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::cylinder(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

28
examples3d/debug_dynamic_collider_add3.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry3, Point3, Vector3};
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) {
@@ -17,30 +15,30 @@ 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 ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
// .restitution(0.5)
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(0.0, 0.2, 0.0)
.linvel(10.0, 0.0, 0.0)
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0])
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
colliders.insert(collider, ball_handle, &mut bodies);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector3::zeros();
let mut angvel = Vector3::zeros();
let mut pos = Isometry3::identity();
let mut linvel = Vector::zeros();
let mut angvel = Vector::zeros();
let mut pos = Isometry::identity();
let mut step = 0;
let mut extra_colliders = Vec::new();
let snapped_frame = 51;
@@ -55,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
let new_ball_collider_handle =
physics
.colliders
.insert(collider, ball_handle, &mut physics.bodies);
.insert_with_parent(collider, ball_handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_collider(new_ball_collider_handle, &physics.colliders);
@@ -93,7 +91,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Remove then re-add the ground collider.
// let ground = physics.bodies.get_mut(ground_handle).unwrap();
// ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
// ground.set_position(Isometry::translation(0.0, step as f32 * 0.001, 0.0), false);
// let coll = physics
// .colliders
// .remove(ground_collider_handle, &mut physics.bodies, true)
@@ -104,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) {
let new_ground_collider_handle =
physics
.colliders
.insert(coll, ground_handle, &mut physics.bodies);
.insert_with_parent(coll, ground_handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_collider(new_ground_collider_handle, &physics.colliders);
@@ -117,5 +115,5 @@ pub fn init_world(testbed: &mut Testbed) {
* 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());
}

16
examples3d/debug_friction3.rs
View File

@@ -1,6 +1,4 @@
use na::{Point3, Vector3};
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) {
@@ -22,24 +20,24 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
.friction(1.5)
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Build a dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 1.1, 0.0)
.rotation(Vector3::y() * 0.3)
.translation(vector![0.0, 1.1, 0.0])
.rotation(Vector::y() * 0.3)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = &mut bodies[handle];
let force = rigid_body.position() * Vector3::z() * 50.0;
let force = rigid_body.position() * Vector::z() * 50.0;
rigid_body.set_linvel(force, true);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

18
examples3d/debug_infinite_fall3.rs
View File

@@ -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) {
@@ -18,33 +16,33 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, 4.0, 0.0)
.translation(vector![0.0, 4.0, 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);
let rad = 1.0;
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 7.0 * rad, 0.0)
.translation(vector![0.0, 7.0 * rad, 0.0])
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 2.0 * rad, 0.0)
.translation(vector![0.0, 2.0 * rad, 0.0])
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.look_at(Point3::new(100.0, -10.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, -10.0, 100.0], Point::origin());
testbed.set_world(bodies, colliders, joints);
}

50
examples3d/debug_prismatic3.rs
View File

@@ -1,20 +1,18 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn prismatic_repro(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
box_center: Point3<f32>,
box_center: Point<f32>,
) {
let box_rb = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(box_center.x, box_center.y, box_center.z)
.translation(vector![box_center.x, box_center.y, box_center.z])
.build(),
);
colliders.insert(
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
box_rb,
bodies,
@@ -22,32 +20,32 @@ fn prismatic_repro(
let wheel_y = -1.0;
let wheel_positions = vec![
Vector3::new(1.0, wheel_y, -1.0),
Vector3::new(-1.0, wheel_y, -1.0),
Vector3::new(1.0, wheel_y, 1.0),
Vector3::new(-1.0, wheel_y, 1.0),
vector![1.0, wheel_y, -1.0],
vector![-1.0, wheel_y, -1.0],
vector![1.0, wheel_y, 1.0],
vector![-1.0, wheel_y, 1.0],
];
for pos in wheel_positions {
let wheel_pos_in_world = box_center + pos;
let wheel_rb = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z,
)
wheel_pos_in_world.z
])
.build(),
);
colliders.insert(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
let mut prismatic = rapier3d::dynamics::PrismaticJoint::new(
Point3::new(pos.x, pos.y, pos.z),
Vector3::y_axis(),
Vector3::default(),
Point3::new(0.0, 0.0, 0.0),
Vector3::y_axis(),
Vector3::default(),
point![pos.x, pos.y, pos.z],
Vector::y_axis(),
Vector::zeros(),
Point::origin(),
Vector::y_axis(),
Vector::default(),
);
prismatic.configure_motor_model(rapier3d::dynamics::SpringModel::VelocityBased);
let (stiffness, damping) = (0.05, 0.2);
@@ -59,10 +57,10 @@ fn prismatic_repro(
// put a small box under one of the wheels
let gravel = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(box_center.x + 1.0, box_center.y - 2.4, -1.0)
.translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
.build(),
);
colliders.insert(
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
gravel,
bodies,
@@ -84,22 +82,22 @@ 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);
prismatic_repro(
&mut bodies,
&mut colliders,
&mut joints,
Point3::new(0.0, 5.0, 0.0),
point![0.0, 5.0, 0.0],
);
/*
* 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());
}

22
examples3d/debug_rollback3.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry3, Point3, Vector3};
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) {
@@ -17,30 +15,30 @@ 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 ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
// .restitution(0.5)
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(0.0, 0.2, 0.0)
.linvel(10.0, 0.0, 0.0)
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0])
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
colliders.insert(collider, ball_handle, &mut bodies);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector3::zeros();
let mut angvel = Vector3::zeros();
let mut pos = Isometry3::identity();
let mut linvel = Vector::zeros();
let mut angvel = Vector::zeros();
let mut pos = Isometry::identity();
let mut step = 0;
let snapped_frame = 51;
@@ -68,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
* 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());
}

28
examples3d/debug_shape_modification3.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -17,30 +15,30 @@ 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 ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
.friction(0.15)
// .restitution(0.5)
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(0.0, 0.2, 0.0)
.linvel(10.0, 0.0, 0.0)
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0])
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
let ball_coll_handle = colliders.insert(collider, ball_handle, &mut bodies);
let ball_coll_handle = colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector3::zeros();
let mut angvel = Vector3::zeros();
let mut pos = Isometry3::identity();
let mut linvel = Vector::zeros();
let mut angvel = Vector::zeros();
let mut pos = Isometry::identity();
let mut step = 0;
let snapped_frame = 51;
@@ -90,7 +88,9 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shiftz - centerz + offset;
// 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 = match j % 5 {
@@ -103,7 +103,7 @@ pub fn init_world(testbed: &mut Testbed) {
_ => ColliderBuilder::capsule_y(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -114,5 +114,5 @@ pub fn init_world(testbed: &mut Testbed) {
* 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());
}

20
examples3d/debug_triangle3.rs
View File

@@ -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) {
@@ -13,31 +11,31 @@ pub fn init_world(testbed: &mut Testbed) {
// Triangle ground.
let vtx = [
Point3::new(-10.0, 0.0, -10.0),
Point3::new(10.0, 0.0, -10.0),
Point3::new(0.0, 0.0, 10.0),
point![-10.0, 0.0, -10.0],
point![10.0, 0.0, -10.0],
point![0.0, 0.0, 10.0],
];
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::triangle(vtx[0], vtx[1], vtx[2]).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(1.1, 0.01, 0.0)
.translation(vector![1.1, 0.01, 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(20.0, 0.1, 1.0).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* 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());
}

32
examples3d/debug_trimesh3.rs
View File

@@ -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());
}

20
examples3d/domino3.rs
View File

@@ -1,6 +1,4 @@
use na::{Point3, Translation3, UnitQuaternion, Vector3};
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 cubes
@@ -31,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
let width = 1.0;
let thickness = 0.1;
let colors = [Point3::new(0.7, 0.5, 0.9), Point3::new(0.6, 1.0, 0.6)];
let colors = [[0.7, 0.5, 0.9], [0.6, 1.0, 0.6]];
let mut curr_angle = 0.0;
let mut curr_rad = 10.0;
@@ -50,16 +48,16 @@ pub fn init_world(testbed: &mut Testbed) {
let tilt = if nudged || i == num - 1 { 0.2 } else { 0.0 };
if skip == 0 {
let rot = UnitQuaternion::new(Vector3::y() * curr_angle);
let tilt = UnitQuaternion::new(rot * Vector3::z() * tilt);
let rot = Rotation::new(Vector::y() * curr_angle);
let tilt = Rotation::new(rot * Vector::z() * tilt);
let position =
Translation3::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
* tilt
* rot;
let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, colors[i % 2]);
} else {
skip -= 1;
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

14
examples3d/fountain3.rs
View File

@@ -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;
const MAX_NUMBER_OF_BODIES: usize = 400;
@@ -18,16 +16,16 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 2.1; // 16.0;
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);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, _, run_state| {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0, 0.0)
.translation(vector![0.0, 10.0, 0.0])
.build();
let handle = physics.bodies.insert(rigid_body);
let collider = match run_state.timestep_id % 3 {
@@ -38,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
physics
.colliders
.insert(collider, handle, &mut physics.bodies);
.insert_with_parent(collider, handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -83,5 +81,5 @@ pub fn init_world(testbed: &mut Testbed) {
// .physics_state_mut()
// .integration_parameters
// .velocity_based_erp = 0.2;
testbed.look_at(Point3::new(-30.0, 4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
testbed.look_at(point![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
}

15
examples3d/harness_capsules3.rs
View File

@@ -1,7 +1,4 @@
extern crate nalgebra as na;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::harness::Harness;
pub fn init_world(harness: &mut Harness) {
@@ -19,11 +16,11 @@ pub fn init_world(harness: &mut Harness) {
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 cubes
@@ -47,10 +44,12 @@ pub fn init_world(harness: &mut Harness) {
let z = k as f32 * shift - centerz + offset;
// 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::capsule_y(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

23
examples3d/heightfield3.rs
View File

@@ -1,6 +1,5 @@
use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
use na::ComplexField;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector3::new(100.0, 1.0, 100.0);
let ground_size = Vector::new(100.0, 1.0, 100.0);
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -34,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -55,7 +54,9 @@ 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 = match j % 6 {
@@ -69,15 +70,15 @@ pub fn init_world(testbed: &mut Testbed) {
_ => {
let shapes = vec![
(
Isometry3::identity(),
Isometry::identity(),
SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
),
(
Isometry3::translation(rad, 0.0, 0.0),
Isometry::translation(rad, 0.0, 0.0),
SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
),
(
Isometry3::translation(-rad, 0.0, 0.0),
Isometry::translation(-rad, 0.0, 0.0),
SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
),
];
@@ -86,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
};
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -95,5 +96,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

143
examples3d/joints3.rs
View File

@@ -1,49 +1,44 @@
use na::{Isometry3, Point3, Unit, UnitQuaternion, Vector3};
use rapier3d::dynamics::{
BallJoint, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder,
RigidBodyHandle, RigidBodySet, RigidBodyType,
};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_prismatic_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
origin: Point3<f32>,
origin: Point<f32>,
num: usize,
) {
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(origin.x, origin.y, origin.z)
.translation(vector![origin.x, origin.y, origin.z])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, bodies);
colliders.insert_with_parent(collider, curr_parent, bodies);
for i in 0..num {
let z = origin.z + (i + 1) as f32 * shift;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(origin.x, origin.y, z)
.translation(vector![origin.x, origin.y, z])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_child, bodies);
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
} else {
Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let z = Vector3::z();
let z = Vector::z();
let mut prism = PrismaticJoint::new(
Point3::new(0.0, 0.0, 0.0),
point![0.0, 0.0, 0.0],
axis,
z,
Point3::new(0.0, 0.0, -shift),
point![0.0, 0.0, -shift],
axis,
z,
);
@@ -61,40 +56,40 @@ fn create_actuated_prismatic_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
origin: Point3<f32>,
origin: Point<f32>,
num: usize,
) {
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(origin.x, origin.y, origin.z)
.translation(vector![origin.x, origin.y, origin.z])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, bodies);
colliders.insert_with_parent(collider, curr_parent, bodies);
for i in 0..num {
let z = origin.z + (i + 1) as f32 * shift;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(origin.x, origin.y, z)
.translation(vector![origin.x, origin.y, z])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_child, bodies);
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
} else {
Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let z = Vector3::z();
let z = Vector::z();
let mut prism = PrismaticJoint::new(
Point3::new(0.0, 0.0, 0.0),
point![0.0, 0.0, 0.0],
axis,
z,
Point3::new(0.0, 0.0, -shift),
point![0.0, 0.0, -shift],
axis,
z,
);
@@ -128,27 +123,27 @@ fn create_revolute_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
origin: Point3<f32>,
origin: Point<f32>,
num: usize,
) {
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(origin.x, origin.y, 0.0)
.translation(vector![origin.x, origin.y, 0.0])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, bodies);
colliders.insert_with_parent(collider, curr_parent, bodies);
for i in 0..num {
// Create four bodies.
let z = origin.z + i as f32 * shift * 2.0 + shift;
let positions = [
Isometry3::translation(origin.x, origin.y, z),
Isometry3::translation(origin.x + shift, origin.y, z),
Isometry3::translation(origin.x + shift, origin.y, z + shift),
Isometry3::translation(origin.x, origin.y, z + shift),
Isometry::translation(origin.x, origin.y, z),
Isometry::translation(origin.x + shift, origin.y, z),
Isometry::translation(origin.x + shift, origin.y, z + shift),
Isometry::translation(origin.x, origin.y, z + shift),
];
let mut handles = [curr_parent; 4];
@@ -158,19 +153,19 @@ fn create_revolute_joints(
.build();
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handles[k], bodies);
colliders.insert_with_parent(collider, handles[k], bodies);
}
// Setup four joints.
let o = Point3::origin();
let x = Vector3::x_axis();
let z = Vector3::z_axis();
let o = Point::origin();
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
];
joints.insert(bodies, curr_parent, handles[0], revs[0]);
@@ -186,7 +181,7 @@ fn create_fixed_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
origin: Point3<f32>,
origin: Point<f32>,
num: usize,
) {
let rad = 0.4;
@@ -209,18 +204,22 @@ fn create_fixed_joints(
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(origin.x + fk * shift, origin.y, origin.z + fi * shift)
.translation(vector![
origin.x + fk * shift,
origin.y,
origin.z + fi * shift
])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, bodies);
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry3::identity(),
Isometry3::translation(0.0, 0.0, -shift),
Isometry::identity(),
Isometry::translation(0.0, 0.0, -shift),
);
joints.insert(bodies, parent_handle, child_handle, joint);
}
@@ -230,8 +229,8 @@ fn create_fixed_joints(
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new(
Isometry3::identity(),
Isometry3::translation(-shift, 0.0, 0.0),
Isometry::identity(),
Isometry::translation(-shift, 0.0, 0.0),
);
joints.insert(bodies, parent_handle, child_handle, joint);
}
@@ -264,16 +263,16 @@ fn create_ball_joints(
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, 0.0, fi * shift * 2.0)
.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
colliders.insert(collider, child_handle, bodies);
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift * 2.0));
let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]);
joints.insert(bodies, parent_handle, child_handle, joint);
}
@@ -281,7 +280,7 @@ fn create_ball_joints(
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
joints.insert(bodies, parent_handle, child_handle, joint);
}
@@ -294,7 +293,7 @@ fn create_actuated_revolute_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
origin: Point3<f32>,
origin: Point<f32>,
num: usize,
) {
let rad = 0.4;
@@ -302,10 +301,10 @@ fn create_actuated_revolute_joints(
// We will reuse this base configuration for all the joints here.
let joint_template = RevoluteJoint::new(
Point3::origin(),
Vector3::z_axis(),
Point3::new(0.0, 0.0, -shift),
Vector3::z_axis(),
Point::origin(),
Vector::z_axis(),
point![0.0, 0.0, -shift],
Vector::z_axis(),
);
let mut parent_handle = RigidBodyHandle::invalid();
@@ -325,13 +324,13 @@ fn create_actuated_revolute_joints(
let shifty = (i >= 1) as u32 as f32 * -2.0;
let rigid_body = RigidBodyBuilder::new(status)
.translation(origin.x, origin.y + shifty, origin.z + fi * shift)
.translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build();
colliders.insert(collider, child_handle, bodies);
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {
let mut joint = joint_template.clone();
@@ -360,14 +359,14 @@ fn create_actuated_ball_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
origin: Point3<f32>,
origin: Point<f32>,
num: usize,
) {
let rad = 0.4;
let shift = 2.0;
// We will reuse this base configuration for all the joints here.
let joint_template = BallJoint::new(Point3::new(0.0, 0.0, shift), Point3::origin());
let joint_template = BallJoint::new(point![0.0, 0.0, shift], Point::origin());
let mut parent_handle = RigidBodyHandle::invalid();
@@ -384,24 +383,24 @@ fn create_actuated_ball_joints(
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(origin.x, origin.y, origin.z + fi * shift)
.translation(vector![origin.x, origin.y, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build();
colliders.insert(collider, child_handle, bodies);
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {
let mut joint = joint_template.clone();
if i == 1 {
joint.configure_motor_velocity(Vector3::new(0.0, 0.5, -2.0), 0.1);
joint.configure_motor_velocity(vector![0.0, 0.5, -2.0], 0.1);
} else if i == num - 1 {
let stiffness = 0.2;
let damping = 1.0;
joint.configure_motor_position(
UnitQuaternion::new(Vector3::new(0.0, 1.0, 3.14 / 2.0)),
Rotation::new(vector![0.0, 1.0, 3.14 / 2.0]),
stiffness,
damping,
);
@@ -426,42 +425,42 @@ pub fn init_world(testbed: &mut Testbed) {
&mut bodies,
&mut colliders,
&mut joints,
Point3::new(20.0, 5.0, 0.0),
point![20.0, 5.0, 0.0],
4,
);
create_actuated_prismatic_joints(
&mut bodies,
&mut colliders,
&mut joints,
Point3::new(25.0, 5.0, 0.0),
point![25.0, 5.0, 0.0],
4,
);
create_revolute_joints(
&mut bodies,
&mut colliders,
&mut joints,
Point3::new(20.0, 0.0, 0.0),
point![20.0, 0.0, 0.0],
3,
);
create_fixed_joints(
&mut bodies,
&mut colliders,
&mut joints,
Point3::new(0.0, 10.0, 0.0),
point![0.0, 10.0, 0.0],
10,
);
create_actuated_revolute_joints(
&mut bodies,
&mut colliders,
&mut joints,
Point3::new(20.0, 10.0, 0.0),
point![20.0, 10.0, 0.0],
6,
);
create_actuated_ball_joints(
&mut bodies,
&mut colliders,
&mut joints,
Point3::new(13.0, 10.0, 0.0),
point![13.0, 10.0, 0.0],
3,
);
create_ball_joints(&mut bodies, &mut colliders, &mut joints, 15);
@@ -470,5 +469,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(15.0, 5.0, 42.0), Point3::new(13.0, 1.0, 1.0));
testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
}

38
examples3d/keva3.rs
View File

@@ -1,14 +1,12 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn build_block(
testbed: &mut Testbed,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
half_extents: Vector3<f32>,
shift: Vector3<f32>,
half_extents: Vector<f32>,
shift: Vector<f32>,
mut numx: usize,
numy: usize,
mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
let block_width = 2.0 * half_extents.z * numx as f32;
let block_height = 2.0 * half_extents.y * numy as f32;
let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
let mut color0 = Point3::new(0.7, 0.5, 0.9);
let mut color1 = Point3::new(0.6, 1.0, 0.6);
let mut color0 = [0.7, 0.5, 0.9];
let mut color1 = [0.6, 1.0, 0.6];
for i in 0..numy {
std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z,
)
z + dim.z + shift.z
])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
i as f32 * dim.x * 2.0 + dim.x + shift.x,
dim.y + shift.y + block_height,
j as f32 * dim.z * 2.0 + dim.z + shift.z,
)
j as f32 * dim.z * 2.0 + dim.z + shift.z
])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
}
@@ -94,16 +92,16 @@ 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 cubes
*/
let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
let mut block_height = 0.0;
// These should only be set to odd values otherwise
// the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
&mut bodies,
&mut colliders,
half_extents,
Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
vector![-block_width / 2.0, block_height, -block_width / 2.0],
numx,
numy,
numz,
@@ -135,5 +133,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

22
examples3d/locked_rotations3.rs
View File

@@ -1,6 +1,4 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
// This shows a bug when a cylinder is in contact with a very large
@@ -21,41 +19,41 @@ 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);
/*
* A rectangle that only rotates along the `x` axis.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 3.0, 0.0)
.translation(vector![0.0, 3.0, 0.0])
.lock_translations()
.restrict_rotations(true, false, false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* A tilted capsule that cannot rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 5.0, 0.0)
.rotation(Vector3::x() * 1.0)
.translation(vector![0.0, 5.0, 0.0])
.rotation(Vector::x() * 1.0)
.lock_rotations()
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let collider = ColliderBuilder::capsule_x(0.6, 0.4).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(10.0, 3.0, 0.0), Point3::new(0.0, 3.0, 0.0));
testbed.look_at(point![10.0, 3.0, 0.0], point![0.0, 3.0, 0.0]);
}

39
examples3d/one_way_platforms3.rs
View File

@@ -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(ActiveHooks::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(ActiveHooks::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());
}

63
examples3d/platform3.rs
View File

@@ -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
@@ -43,23 +41,35 @@ 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);
}
}
}
/*
* Setup a kinematic rigid body.
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic()
.translation(0.0, 1.5 + 0.8, -10.0 * rad)
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
.translation(vector![0.0, 1.5 + 0.8, -10.0 * rad])
.build();
let platform_handle = bodies.insert(platform_body);
let velocity_based_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, velocity_based_platform_handle, &mut bodies);
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based()
.translation(vector![0.0, 2.0 + 1.5 + 0.8, -10.0 * rad])
.build();
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
/*
* Setup a callback to control the platform.
@@ -71,21 +81,22 @@ pub fn init_world(testbed: &mut Testbed) {
return;
}
if let Some(platform) = physics.bodies.get_mut(platform_handle) {
let mut next_pos = *platform.position();
let velocity = vector![
0.0,
(run_state.time * 5.0).sin(),
run_state.time.sin() * 5.0
];
let dt = 0.016;
next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
// Update the velocity-based kinematic body by setting its velocity.
if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
platform.set_linvel(velocity, true);
}
if next_pos.translation.vector.z >= rad * 10.0 {
next_pos.translation.vector.z -= dt;
}
if next_pos.translation.vector.z <= -rad * 10.0 {
next_pos.translation.vector.z += dt;
}
platform.set_next_kinematic_position(next_pos);
// Update the position-based kinematic body by setting its next position.
if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
let mut next_tra = *platform.translation();
next_tra += velocity * physics.integration_parameters.dt;
platform.set_next_kinematic_translation(next_tra);
}
});
@@ -93,5 +104,5 @@ 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());
}

16
examples3d/primitives3.rs
View File

@@ -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 = 2.1;
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 primitives
@@ -47,7 +45,9 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shiftz - centerz + offset;
// 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 = match j % 5 {
@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
_ => ColliderBuilder::capsule_y(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -71,5 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

14
examples3d/restitution3.rs
View File

@@ -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) {
@@ -18,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 1.0;
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, 2.0)
.restitution(1.0)
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let num = 10;
let rad = 0.5;
@@ -33,13 +31,13 @@ pub fn init_world(testbed: &mut Testbed) {
for i in 0..=num {
let x = (i as f32) - num as f32 / 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x * 2.0, 10.0 * (j as f32 + 1.0), 0.0)
.translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0), 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad)
.restitution((i as f32) / (num as f32))
.build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -47,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(0.0, 3.0, 30.0), Point3::new(0.0, 3.0, 0.0));
testbed.look_at(point![0.0, 3.0, 30.0], point![0.0, 3.0, 0.0]);
}

40
examples3d/sensor3.rs
View File

@@ -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 ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create some boxes.
@@ -41,12 +39,14 @@ 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);
testbed.set_initial_body_color(handle, Point3::new(0.5, 0.5, 1.0));
testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
}
}
@@ -56,33 +56,37 @@ pub fn init_world(testbed: &mut Testbed) {
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic()
.translation(0.0, 5.0, 0.0)
.translation(vector![0.0, 5.0, 0.0])
.build();
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which
// other colliders can touch.
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, sensor_handle, &mut bodies);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't
// want it to contribute to the rigid body mass.
let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
colliders.insert(sensor_collider, sensor_handle, &mut bodies);
let sensor_collider = ColliderBuilder::ball(rad * 5.0)
.density(0.0)
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
testbed.set_initial_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
[1.0, 1.0, 0.0]
} else {
Point3::new(0.5, 0.5, 1.0)
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
let parent_handle1 = physics.colliders[prox.collider1].parent().unwrap();
let parent_handle2 = physics.colliders[prox.collider2].parent().unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
@@ -99,5 +103,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(-6.0, 4.0, -6.0), Point3::new(0.0, 1.0, 0.0));
testbed.look_at(point![-6.0, 4.0, -6.0], point![0.0, 1.0, 0.0]);
}

23
examples3d/trimesh3.rs
View File

@@ -1,6 +1,5 @@
use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField, SharedShape};
use na::ComplexField;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector3::new(100.0, 1.0, 100.0);
let ground_size = vector![100.0, 1.0, 100.0];
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -39,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -60,7 +59,9 @@ 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 = match j % 6 {
@@ -74,15 +75,15 @@ pub fn init_world(testbed: &mut Testbed) {
_ => {
let shapes = vec![
(
Isometry3::identity(),
Isometry::identity(),
SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
),
(
Isometry3::translation(rad, 0.0, 0.0),
Isometry::translation(rad, 0.0, 0.0),
SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
),
(
Isometry3::translation(-rad, 0.0, 0.0),
Isometry::translation(-rad, 0.0, 0.0),
SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
),
];
@@ -91,7 +92,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
};
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -100,5 +101,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}

35
publish.sh Executable file
View File

@@ -0,0 +1,35 @@
#! /bin/bash
tmp=$(mktemp -d)
echo "$tmp"
cp -r src "$tmp"/.
cp -r LICENSE README.md "$tmp"/.
### Publish the 2D version.
sed 's#\.\./\.\./src#src#g' build/rapier2d/Cargo.toml > "$tmp"/Cargo.toml
currdir=$(pwd)
cd "$tmp" && cargo publish
cd "$currdir" || exit
### Publish the 3D version.
sed 's#\.\./\.\./src#src#g' build/rapier3d/Cargo.toml > "$tmp"/Cargo.toml
cp -r LICENSE README.md "$tmp"/.
cd "$tmp" && cargo publish
cd "$currdir" || exit
### Publish the 2D f64 version.
sed 's#\.\./\.\./src#src#g' build/rapier2d-f64/Cargo.toml > "$tmp"/Cargo.toml
currdir=$(pwd)
cd "$tmp" && cargo publish
cd "$currdir" || exit
### Publish the 3D f64 version.
sed 's#\.\./\.\./src#src#g' build/rapier3d-f64/Cargo.toml > "$tmp"/Cargo.toml
cp -r LICENSE README.md "$tmp"/.
cd "$tmp" && cargo publish
rm -rf "$tmp"

8
src/data/coarena.rs
View File

@@ -13,6 +13,14 @@ impl<T> Coarena<T> {
Self { data: Vec::new() }
}
/// Gets a specific element from the coarena without specifying its generation number.
///
/// It is strongly encouraged to use `Coarena::get` instead of this method because this method
/// can suffer from the ABA problem.
pub fn get_unknown_gen(&self, index: u32) -> Option<&T> {
self.data.get(index as usize).map(|(_, t)| t)
}
/// Gets a specific element from the coarena, if it exists.
pub fn get(&self, index: Index) -> Option<&T> {
let (i, g) = index.into_raw_parts();

97
src/dynamics/ccd/ccd_solver.rs
View File

@@ -10,6 +10,7 @@ use crate::geometry::{
use crate::math::Real;
use crate::parry::utils::SortedPair;
use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
use crate::prelude::{ActiveEvents, ColliderFlags};
use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
use parry::utils::hashmap::HashMap;
use std::collections::BinaryHeap;
@@ -66,7 +67,7 @@ impl CCDSolver {
&RigidBodyCcd,
&RigidBodyMassProps,
) = bodies.index_bundle(handle.0);
let local_com = &mprops.mass_properties.local_com;
let local_com = &mprops.local_mprops.local_com;
let min_toi = (ccd.ccd_thickness
* 0.15
@@ -139,7 +140,8 @@ impl CCDSolver {
Colliders: ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderType>,
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>,
{
// Update the query pipeline.
self.query_pipeline.update_with_mode(
@@ -200,16 +202,21 @@ impl CCDSolver {
{
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _) = colliders.index_bundle(ch1.0);
let c2: (_, _, _) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
let co_type1: &ColliderType = colliders.index(ch1.0);
let co_type2: &ColliderType = colliders.index(ch1.0);
let bh1 = co_parent1.map(|p| p.handle);
let bh2 = co_parent2.map(|p| p.handle);
if bh1 == bh2 || (co_type1.is_sensor() || co_type2.is_sensor()) {
// Ignore self-intersection and sensors.
// Ignore self-intersection and sensors and apply collision groups filter.
if bh1 == bh2 // Ignore self-intersection.
|| (co_type1.is_sensor() || co_type2.is_sensor()) // Ignore sensors.
|| !c1.3.collision_groups.test(c2.3.collision_groups) // Apply collision groups.
|| !c1.3.solver_groups.test(c2.3.solver_groups)
// Apply solver groups.
{
return true;
}
@@ -225,8 +232,8 @@ impl CCDSolver {
self.query_pipeline.query_dispatcher(),
*ch1,
*ch2,
(c1.0, c1.1, c1.2, co_parent1),
(c2.0, c2.1, c2.2, co_parent2),
(c1.0, c1.1, c1.2, c1.3, co_parent1),
(c2.0, c2.1, c2.2, c2.3, co_parent2),
Some((rb_pos1, rb_vels1, rb_mprops1, rb_ccd1)),
b2,
None,
@@ -272,7 +279,9 @@ impl CCDSolver {
Colliders: ComponentSetOption<ColliderParent>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>
+ ComponentSet<ColliderType>,
+ ComponentSet<ColliderType>
+ ComponentSet<ColliderFlags>
+ ComponentSet<ColliderFlags>,
{
let mut frozen = HashMap::<_, Real>::default();
let mut all_toi = BinaryHeap::new();
@@ -334,14 +343,15 @@ impl CCDSolver {
{
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _) = colliders.index_bundle(ch1.0);
let c2: (_, _, _) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
let bh1 = co_parent1.map(|p| p.handle);
let bh2 = co_parent2.map(|p| p.handle);
if bh1 == bh2 {
// Ignore self-intersection.
// Ignore self-intersections and apply groups filter.
if bh1 == bh2 || !c1.3.collision_groups.test(c2.3.collision_groups)
{
return true;
}
@@ -358,8 +368,8 @@ impl CCDSolver {
self.query_pipeline.query_dispatcher(),
*ch1,
*ch2,
(c1.0, c1.1, c1.2, co_parent1),
(c2.0, c2.1, c2.2, co_parent2),
(c1.0, c1.1, c1.2, c1.3, co_parent1),
(c2.0, c2.1, c2.2, c2.3, co_parent2),
b1,
b2,
None,
@@ -398,7 +408,7 @@ impl CCDSolver {
// NOTE: all static bodies (and kinematic bodies?) should be considered as "frozen", this
// may avoid some resweeps.
let mut intersections_to_check = vec![];
let mut pseudo_intersections_to_check = vec![];
while let Some(toi) = all_toi.pop() {
assert!(toi.toi <= dt);
@@ -420,7 +430,7 @@ impl CCDSolver {
continue;
}
if toi.is_intersection_test {
if toi.is_pseudo_intersection_test {
// NOTE: this test is redundant with the previous `if !should_freeze && ...`
// but let's keep it to avoid tricky regressions if we end up swapping both
// `if` for some reasons in the future.
@@ -428,7 +438,7 @@ impl CCDSolver {
// This is only an intersection so we don't have to freeze and there is no
// need to resweep. However we will need to see if we have to generate
// intersection events, so push the TOI for further testing.
intersections_to_check.push(toi);
pseudo_intersections_to_check.push(toi);
}
continue;
}
@@ -460,14 +470,14 @@ impl CCDSolver {
.colliders_with_aabb_intersecting_aabb(&aabb, |ch2| {
let co_parent1: Option<&ColliderParent> = colliders.get(ch1.0);
let co_parent2: Option<&ColliderParent> = colliders.get(ch2.0);
let c1: (_, _, _) = colliders.index_bundle(ch1.0);
let c2: (_, _, _) = colliders.index_bundle(ch2.0);
let c1: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch1.0);
let c2: (_, _, _, &ColliderFlags) = colliders.index_bundle(ch2.0);
let bh1 = co_parent1.map(|p| p.handle);
let bh2 = co_parent2.map(|p| p.handle);
if bh1 == bh2 {
// Ignore self-intersection.
// Ignore self-intersection and apply groups filter.
if bh1 == bh2 || !c1.3.collision_groups.test(c2.3.collision_groups) {
return true;
}
@@ -496,8 +506,8 @@ impl CCDSolver {
self.query_pipeline.query_dispatcher(),
*ch1,
*ch2,
(c1.0, c1.1, c1.2, co_parent1),
(c2.0, c2.1, c2.2, co_parent2),
(c1.0, c1.1, c1.2, c1.3, co_parent1),
(c2.0, c2.1, c2.2, c2.3, co_parent2),
b1,
b2,
frozen1.copied(),
@@ -514,7 +524,7 @@ impl CCDSolver {
}
}
for toi in intersections_to_check {
for toi in pseudo_intersections_to_check {
// See if the intersection is still active once the bodies
// reach their final positions.
// - If the intersection is still active, don't report it yet. It will be
@@ -522,10 +532,29 @@ impl CCDSolver {
// - If the intersection isn't active anymore, and it wasn't intersecting
// before, then we need to generate one interaction-start and one interaction-stop
// events because it will never be detected by the narrow-phase because of tunneling.
let (co_pos1, co_shape1): (&ColliderPosition, &ColliderShape) =
colliders.index_bundle(toi.c1.0);
let (co_pos2, co_shape2): (&ColliderPosition, &ColliderShape) =
colliders.index_bundle(toi.c2.0);
let (co_type1, co_pos1, co_shape1, co_flags1): (
&ColliderType,
&ColliderPosition,
&ColliderShape,
&ColliderFlags,
) = colliders.index_bundle(toi.c1.0);
let (co_type2, co_pos2, co_shape2, co_flags2): (
&ColliderType,
&ColliderPosition,
&ColliderShape,
&ColliderFlags,
) = colliders.index_bundle(toi.c2.0);
if !co_type1.is_sensor() && !co_type2.is_sensor() {
// TODO: this happens if we found a TOI between two non-sensor
// colliders with mismatching solver_flags. It is not clear
// what we should do in this case: we could report a
// contact started/contact stopped event for example. But in
// that case, what contact pair should be pass to these events?
// For now we just ignore this special case. Let's wait for an actual
// use-case to come up before we determine what we want to do here.
continue;
}
let co_next_pos1 = if let Some(b1) = toi.b1 {
let co_parent1: &ColliderParent = colliders.get(toi.c1.0).unwrap();
@@ -535,7 +564,7 @@ impl CCDSolver {
&RigidBodyMassProps,
) = bodies.index_bundle(b1.0);
let local_com1 = &rb_mprops1.mass_properties.local_com;
let local_com1 = &rb_mprops1.local_mprops.local_com;
let frozen1 = frozen.get(&b1);
let pos1 = frozen1
.map(|t| rb_vels1.integrate(*t, &rb_pos1.position, local_com1))
@@ -553,7 +582,7 @@ impl CCDSolver {
&RigidBodyMassProps,
) = bodies.index_bundle(b2.0);
let local_com2 = &rb_mprops2.mass_properties.local_com;
let local_com2 = &rb_mprops2.local_mprops.local_com;
let frozen2 = frozen.get(&b2);
let pos2 = frozen2
.map(|t| rb_vels2.integrate(*t, &rb_pos2.position, local_com2))
@@ -575,7 +604,11 @@ impl CCDSolver {
.intersection_test(&next_coll_pos12, co_shape1.as_ref(), co_shape2.as_ref())
.unwrap_or(false);
if !intersect_before && !intersect_after {
if !intersect_before
&& !intersect_after
&& (co_flags1.active_events | co_flags2.active_events)
.contains(ActiveEvents::INTERSECTION_EVENTS)
{
// Emit one intersection-started and one intersection-stopped event.
events.handle_intersection_event(IntersectionEvent::new(toi.c1, toi.c2, true));
events.handle_intersection_event(IntersectionEvent::new(toi.c1, toi.c2, false));

26
src/dynamics/ccd/toi_entry.rs
View File

@@ -2,7 +2,7 @@ use crate::dynamics::{
RigidBodyCcd, RigidBodyHandle, RigidBodyMassProps, RigidBodyPosition, RigidBodyVelocity,
};
use crate::geometry::{
ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
ColliderFlags, ColliderHandle, ColliderParent, ColliderPosition, ColliderShape, ColliderType,
};
use crate::math::Real;
use parry::query::{NonlinearRigidMotion, QueryDispatcher};
@@ -14,7 +14,9 @@ pub struct TOIEntry {
pub b1: Option<RigidBodyHandle>,
pub c2: ColliderHandle,
pub b2: Option<RigidBodyHandle>,
pub is_intersection_test: bool,
// We call this "pseudo" intersection because this also
// includes colliders pairs with mismatching solver_groups.
pub is_pseudo_intersection_test: bool,
pub timestamp: usize,
}
@@ -25,7 +27,7 @@ impl TOIEntry {
b1: Option<RigidBodyHandle>,
c2: ColliderHandle,
b2: Option<RigidBodyHandle>,
is_intersection_test: bool,
is_pseudo_intersection_test: bool,
timestamp: usize,
) -> Self {
Self {
@@ -34,7 +36,7 @@ impl TOIEntry {
b1,
c2,
b2,
is_intersection_test,
is_pseudo_intersection_test,
timestamp,
}
}
@@ -47,12 +49,14 @@ impl TOIEntry {
&ColliderType,
&ColliderShape,
&ColliderPosition,
&ColliderFlags,
Option<&ColliderParent>,
),
c2: (
&ColliderType,
&ColliderShape,
&ColliderPosition,
&ColliderFlags,
Option<&ColliderParent>,
),
b1: Option<(
@@ -78,8 +82,8 @@ impl TOIEntry {
return None;
}
let (co_type1, co_shape1, co_pos1, co_parent1) = c1;
let (co_type2, co_shape2, co_pos2, co_parent2) = c2;
let (co_type1, co_shape1, co_pos1, co_flags1, co_parent1) = c1;
let (co_type2, co_shape2, co_pos2, co_flags2, co_parent2) = c2;
let linvel1 =
frozen1.is_none() as u32 as Real * b1.map(|b| b.1.linvel).unwrap_or(na::zero());
@@ -104,7 +108,9 @@ impl TOIEntry {
// keep it since more conservatism is good at this stage.
let thickness = (co_shape1.0.ccd_thickness() + co_shape2.0.ccd_thickness())
+ smallest_contact_dist.max(0.0);
let is_intersection_test = co_type1.is_sensor() || co_type2.is_sensor();
let is_pseudo_intersection_test = co_type1.is_sensor()
|| co_type2.is_sensor()
|| !co_flags1.solver_groups.test(co_flags2.solver_groups);
if (end_time - start_time) * vel12 < thickness {
return None;
@@ -135,7 +141,7 @@ impl TOIEntry {
// If the TOI search involves two non-sensor colliders then
// we don't want to stop the TOI search at the first penetration
// because the colliders may be in a separating trajectory.
let stop_at_penetration = is_intersection_test;
let stop_at_penetration = is_pseudo_intersection_test;
let res_toi = query_dispatcher
.nonlinear_time_of_impact(
@@ -157,7 +163,7 @@ impl TOIEntry {
co_parent1.map(|p| p.handle),
ch2,
co_parent2.map(|p| p.handle),
is_intersection_test,
is_pseudo_intersection_test,
0,
))
}
@@ -173,7 +179,7 @@ impl TOIEntry {
if ccd.ccd_active {
NonlinearRigidMotion::new(
poss.position,
mprops.mass_properties.local_com,
mprops.local_mprops.local_com,
vels.linvel,
vels.angvel,
)

13
src/dynamics/integration_parameters.rs
View File

@@ -10,7 +10,7 @@ pub struct IntegrationParameters {
///
/// When CCD with multiple substeps is enabled, the timestep is subdivided
/// into smaller pieces. This timestep subdivision won't generate timestep
/// lengths smaller than `min_dt`.
/// lengths smaller than `min_ccd_dt`.
///
/// Setting this to a large value will reduce the opportunity to performing
/// CCD substepping, resulting in potentially more time dropped by the
@@ -18,17 +18,6 @@ pub struct IntegrationParameters {
/// to numerical instabilities.
pub min_ccd_dt: Real,
// /// If `true` and if rapier is compiled with the `parallel` feature, this will enable rayon-based multithreading (default: `true`).
// ///
// /// This parameter is ignored if rapier is not compiled with is `parallel` feature.
// /// Refer to rayon's documentation regarding how to configure the number of threads with either
// /// `rayon::ThreadPoolBuilder::new().num_threads(4).build_global().unwrap()` or `ThreadPool::install`.
// /// Note that using only one thread with `multithreading_enabled` set to `true` will result on a slower
// /// simulation than setting `multithreading_enabled` to `false`.
// pub multithreading_enabled: bool,
// /// If `true`, the world's `step` method will stop right after resolving exactly one CCD event (default: `false`).
// /// This allows the user to take action during a timestep, in-between two CCD events.
// pub return_after_ccd_substep: bool,
/// The Error Reduction Parameter in `[0, 1]` is the proportion of
/// the positional error to be corrected at each time step (default: `0.2`).
pub erp: Real,

22
src/dynamics/island_manager.rs
View File

@@ -229,19 +229,17 @@ impl IslandManager {
stack: &mut Vec<RigidBodyHandle>,
) {
for collider_handle in &rb_colliders.0 {
if let Some(contacts) = narrow_phase.contacts_with(*collider_handle) {
for inter in contacts {
for manifold in &inter.2.manifolds {
if !manifold.data.solver_contacts.is_empty() {
let other = crate::utils::select_other(
(inter.0, inter.1),
*collider_handle,
);
if let Some(other_body) = colliders.get(other.0) {
stack.push(other_body.handle);
}
break;
for inter in narrow_phase.contacts_with(*collider_handle) {
for manifold in &inter.manifolds {
if !manifold.data.solver_contacts.is_empty() {
let other = crate::utils::select_other(
(inter.collider1, inter.collider2),
*collider_handle,
);
if let Some(other_body) = colliders.get(other.0) {
stack.push(other_body.handle);
}
break;
}
}
}

10
src/dynamics/joint/fixed_joint.rs
View File

@@ -8,10 +8,10 @@ use crate::math::{Isometry, Real, SpacialVector};
pub struct FixedJoint {
/// The frame of reference for the first body affected by this joint, expressed in the local frame
/// of the first body.
pub local_anchor1: Isometry<Real>,
pub local_frame1: Isometry<Real>,
/// The frame of reference for the second body affected by this joint, expressed in the local frame
/// of the first body.
pub local_anchor2: Isometry<Real>,
pub local_frame2: Isometry<Real>,
/// The impulse applied to the first body affected by this joint.
///
/// The impulse applied to the second body affected by this joint is given by `-impulse`.
@@ -23,10 +23,10 @@ pub struct FixedJoint {
impl FixedJoint {
/// Creates a new fixed joint from the frames of reference of both bodies.
pub fn new(local_anchor1: Isometry<Real>, local_anchor2: Isometry<Real>) -> Self {
pub fn new(local_frame1: Isometry<Real>, local_frame2: Isometry<Real>) -> Self {
Self {
local_anchor1,
local_anchor2,
local_frame1,
local_frame2,
impulse: SpacialVector::zeros(),
}
}

204
src/dynamics/rigid_body.rs
View File

@@ -4,8 +4,7 @@ use crate::dynamics::{
RigidBodyMassPropsFlags, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{
Collider, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
ColliderShape,
Collider, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
use crate::utils::{self, WCross};
@@ -48,7 +47,7 @@ impl RigidBody {
rb_ccd: RigidBodyCcd::default(),
rb_ids: RigidBodyIds::default(),
rb_colliders: RigidBodyColliders::default(),
rb_activation: RigidBodyActivation::new_active(),
rb_activation: RigidBodyActivation::active(),
changes: RigidBodyChanges::all(),
rb_type: RigidBodyType::Dynamic,
rb_dominance: RigidBodyDominance::default(),
@@ -112,7 +111,7 @@ impl RigidBody {
/// The mass properties of this rigid-body.
#[inline]
pub fn mass_properties(&self) -> &MassProperties {
&self.rb_mprops.mass_properties
&self.rb_mprops.local_mprops
}
/// The dominance group of this rigid-body.
@@ -124,6 +123,72 @@ impl RigidBody {
self.rb_dominance.effective_group(&self.rb_type)
}
#[inline]
/// Locks or unlocks all the rotations of this rigid-body.
pub fn lock_rotations(&mut self, locked: bool, wake_up: bool) {
if self.is_dynamic() {
if wake_up {
self.wake_up(true);
}
self.rb_mprops
.flags
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_X, locked);
self.rb_mprops
.flags
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Y, locked);
self.rb_mprops
.flags
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z, locked);
self.update_world_mass_properties();
}
}
#[inline]
/// Locks or unlocks rotations of this rigid-body along each cartesian axes.
pub fn restrict_rotations(
&mut self,
allow_rotations_x: bool,
allow_rotations_y: bool,
allow_rotations_z: bool,
wake_up: bool,
) {
if self.is_dynamic() {
if wake_up {
self.wake_up(true);
}
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::ROTATION_LOCKED_X,
allow_rotations_x,
);
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::ROTATION_LOCKED_Y,
allow_rotations_y,
);
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::ROTATION_LOCKED_Z,
allow_rotations_z,
);
self.update_world_mass_properties();
}
}
#[inline]
/// Locks or unlocks all the rotations of this rigid-body.
pub fn lock_translations(&mut self, locked: bool, wake_up: bool) {
if self.is_dynamic() {
if wake_up {
self.wake_up(true);
}
self.rb_mprops
.flags
.set(RigidBodyMassPropsFlags::TRANSLATION_LOCKED, locked);
self.update_world_mass_properties();
}
}
/// Are the translations of this rigid-body locked?
pub fn is_translation_locked(&self) -> bool {
self.rb_mprops
@@ -190,7 +255,7 @@ impl RigidBody {
self.wake_up(true);
}
self.rb_mprops.mass_properties = props;
self.rb_mprops.local_mprops = props;
self.update_world_mass_properties();
}
@@ -210,7 +275,7 @@ impl RigidBody {
///
/// A kinematic body can move freely but is not affected by forces.
pub fn is_kinematic(&self) -> bool {
self.rb_type == RigidBodyType::Kinematic
self.rb_type.is_kinematic()
}
/// Is this rigid body static?
@@ -224,7 +289,7 @@ impl RigidBody {
///
/// Returns zero if this rigid body has an infinite mass.
pub fn mass(&self) -> Real {
utils::inv(self.rb_mprops.mass_properties.inv_mass)
utils::inv(self.rb_mprops.local_mprops.inv_mass)
}
/// The predicted position of this rigid-body.
@@ -251,6 +316,16 @@ impl RigidBody {
self.rb_forces.gravity_scale = scale;
}
/// The dominance group of this rigid-body.
pub fn dominance_group(&self) -> i8 {
self.rb_dominance.0
}
/// The dominance group of this rigid-body.
pub fn set_dominance_group(&mut self, dominance: i8) {
self.rb_dominance.0 = dominance
}
/// Adds a collider to this rigid-body.
// TODO ECS: we keep this public for now just to simply our experiments on bevy_rapier.
pub fn add_collider(
@@ -259,7 +334,7 @@ impl RigidBody {
co_parent: &ColliderParent,
co_pos: &mut ColliderPosition,
co_shape: &ColliderShape,
co_mprops: &ColliderMassProperties,
co_mprops: &ColliderMassProps,
) {
self.rb_colliders.attach_collider(
&mut self.changes,
@@ -279,10 +354,11 @@ impl RigidBody {
if let Some(i) = self.rb_colliders.0.iter().position(|e| *e == handle) {
self.changes.set(RigidBodyChanges::COLLIDERS, true);
self.rb_colliders.0.swap_remove(i);
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent());
self.rb_mprops.mass_properties -= mass_properties;
.transform_by(coll.position_wrt_parent().unwrap());
self.rb_mprops.local_mprops -= mass_properties;
self.update_world_mass_properties();
}
}
@@ -384,6 +460,45 @@ impl RigidBody {
&self.rb_pos.position
}
/// The translational part of this rigid-body's position.
#[inline]
pub fn translation(&self) -> &Vector<Real> {
&self.rb_pos.position.translation.vector
}
/// Sets the translational part of this rigid-body's position.
#[inline]
pub fn set_translation(&mut self, translation: Vector<Real>, wake_up: bool) {
self.changes.insert(RigidBodyChanges::POSITION);
self.rb_pos.position.translation.vector = translation;
self.rb_pos.next_position.translation.vector = translation;
// TODO: Do we really need to check that the body isn't dynamic?
if wake_up && self.is_dynamic() {
self.wake_up(true)
}
}
/// The translational part of this rigid-body's position.
#[inline]
pub fn rotation(&self) -> &Rotation<Real> {
&self.rb_pos.position.rotation
}
/// Sets the rotational part of this rigid-body's position.
#[inline]
pub fn set_rotation(&mut self, rotation: AngVector<Real>, wake_up: bool) {
self.changes.insert(RigidBodyChanges::POSITION);
let rotation = Rotation::new(rotation);
self.rb_pos.position.rotation = rotation;
self.rb_pos.next_position.rotation = rotation;
// TODO: Do we really need to check that the body isn't dynamic?
if wake_up && self.is_dynamic() {
self.wake_up(true)
}
}
/// Sets the position and `next_kinematic_position` of this rigid body.
///
/// This will teleport the rigid-body to the specified position/orientation,
@@ -404,6 +519,20 @@ impl RigidBody {
}
}
/// If this rigid body is kinematic, sets its future translation after the next timestep integration.
pub fn set_next_kinematic_rotation(&mut self, rotation: AngVector<Real>) {
if self.is_kinematic() {
self.rb_pos.next_position.rotation = Rotation::new(rotation);
}
}
/// If this rigid body is kinematic, sets its future orientation after the next timestep integration.
pub fn set_next_kinematic_translation(&mut self, translation: Vector<Real>) {
if self.is_kinematic() {
self.rb_pos.next_position.translation = translation.into();
}
}
/// If this rigid body is kinematic, sets its future position after the next timestep integration.
pub fn set_next_kinematic_position(&mut self, pos: Isometry<Real>) {
if self.is_kinematic() {
@@ -411,6 +540,17 @@ impl RigidBody {
}
}
/// Predicts the next position of this rigid-body, by integrating its velocity and forces
/// by a time of `dt`.
pub fn predict_position_using_velocity_and_forces(&self, dt: Real) -> Isometry<Real> {
self.rb_pos.integrate_forces_and_velocities(
dt,
&self.rb_forces,
&self.rb_vels,
&self.rb_mprops,
)
}
pub(crate) fn update_world_mass_properties(&mut self) {
self.rb_mprops
.update_world_mass_properties(&self.rb_pos.position);
@@ -551,7 +691,7 @@ impl RigidBody {
pub fn gravitational_potential_energy(&self, dt: Real, gravity: Vector<Real>) -> Real {
let world_com = self
.rb_mprops
.mass_properties
.local_mprops
.world_com(&self.rb_pos.position)
.coords;
@@ -608,8 +748,13 @@ impl RigidBodyBuilder {
}
/// Initializes the builder of a new kinematic rigid body.
pub fn new_kinematic() -> Self {
Self::new(RigidBodyType::Kinematic)
pub fn new_kinematic_velocity_based() -> Self {
Self::new(RigidBodyType::KinematicVelocityBased)
}
/// Initializes the builder of a new kinematic rigid body.
pub fn new_kinematic_position_based() -> Self {
Self::new(RigidBodyType::KinematicPositionBased)
}
/// Initializes the builder of a new dynamic rigid body.
@@ -618,8 +763,8 @@ impl RigidBodyBuilder {
}
/// Sets the scale applied to the gravity force affecting the rigid-body to be created.
pub fn gravity_scale(mut self, x: Real) -> Self {
self.gravity_scale = x;
pub fn gravity_scale(mut self, scale_factor: Real) -> Self {
self.gravity_scale = scale_factor;
self
}
@@ -630,19 +775,8 @@ impl RigidBodyBuilder {
}
/// Sets the initial translation of the rigid-body to be created.
#[cfg(feature = "dim2")]
pub fn translation(mut self, x: Real, y: Real) -> Self {
self.position.translation.x = x;
self.position.translation.y = y;
self
}
/// Sets the initial translation of the rigid-body to be created.
#[cfg(feature = "dim3")]
pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
self.position.translation.x = x;
self.position.translation.y = y;
self.position.translation.z = z;
pub fn translation(mut self, translation: Vector<Real>) -> Self {
self.position.translation.vector = translation;
self
}
@@ -811,16 +945,8 @@ impl RigidBodyBuilder {
}
/// Sets the initial linear velocity of the rigid-body to be created.
#[cfg(feature = "dim2")]
pub fn linvel(mut self, x: Real, y: Real) -> Self {
self.linvel = Vector::new(x, y);
self
}
/// Sets the initial linear velocity of the rigid-body to be created.
#[cfg(feature = "dim3")]
pub fn linvel(mut self, x: Real, y: Real, z: Real) -> Self {
self.linvel = Vector::new(x, y, z);
pub fn linvel(mut self, linvel: Vector<Real>) -> Self {
self.linvel = linvel;
self
}
@@ -857,7 +983,7 @@ impl RigidBodyBuilder {
rb.rb_vels.angvel = self.angvel;
rb.rb_type = self.rb_type;
rb.user_data = self.user_data;
rb.rb_mprops.mass_properties = self.mass_properties;
rb.rb_mprops.local_mprops = self.mass_properties;
rb.rb_mprops.flags = self.mprops_flags;
rb.rb_damping.linear_damping = self.linear_damping;
rb.rb_damping.angular_damping = self.angular_damping;

64
src/dynamics/rigid_body_components.rs
View File

@@ -1,7 +1,7 @@
use crate::data::{ComponentSetMut, ComponentSetOption};
use crate::dynamics::MassProperties;
use crate::geometry::{
ColliderChanges, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
ColliderChanges, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition,
ColliderShape, InteractionGraph, RigidBodyGraphIndex,
};
use crate::math::{AngVector, AngularInertia, Isometry, Point, Real, Translation, Vector};
@@ -54,16 +54,23 @@ pub type BodyStatus = RigidBodyType;
/// The status of a body, governing the way it is affected by external forces.
pub enum RigidBodyType {
/// A `RigidBodyType::Dynamic` body can be affected by all external forces.
Dynamic,
Dynamic = 0,
/// A `RigidBodyType::Static` body cannot be affected by external forces.
Static,
/// A `RigidBodyType::Kinematic` body cannot be affected by any external forces but can be controlled
Static = 1,
/// A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
/// by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
///
/// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
/// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
/// modified by the user and is independent from any contact or joint it is involved in.
Kinematic,
KinematicPositionBased = 2,
/// A `RigidBodyType::KinematicVelocityBased` body cannot be affected by any external forces but can be controlled
/// by the user at the velocity level while keeping realistic one-way interaction with dynamic bodies.
///
/// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
/// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
/// modified by the user and is independent from any contact or joint it is involved in.
KinematicVelocityBased = 3,
// Semikinematic, // A kinematic that performs automatic CCD with the static environment to avoid traversing it?
// Disabled,
}
@@ -81,7 +88,8 @@ impl RigidBodyType {
/// Is this rigid-body kinematic (i.e. can move but is unaffected by forces)?
pub fn is_kinematic(self) -> bool {
self == RigidBodyType::Kinematic
self == RigidBodyType::KinematicPositionBased
|| self == RigidBodyType::KinematicVelocityBased
}
}
@@ -166,7 +174,7 @@ impl RigidBodyPosition {
mprops: &RigidBodyMassProps,
) -> Isometry<Real> {
let new_vels = forces.integrate(dt, vels, mprops);
new_vels.integrate(dt, &self.position, &mprops.mass_properties.local_com)
new_vels.integrate(dt, &self.position, &mprops.local_mprops.local_com)
}
}
@@ -208,7 +216,7 @@ pub struct RigidBodyMassProps {
/// Flags for locking rotation and translation.
pub flags: RigidBodyMassPropsFlags,
/// The local mass properties of the rigid-body.
pub mass_properties: MassProperties,
pub local_mprops: MassProperties,
/// The world-space center of mass of the rigid-body.
pub world_com: Point<Real>,
/// The inverse mass taking into account translation locking.
@@ -222,7 +230,7 @@ impl Default for RigidBodyMassProps {
fn default() -> Self {
Self {
flags: RigidBodyMassPropsFlags::empty(),
mass_properties: MassProperties::zero(),
local_mprops: MassProperties::zero(),
world_com: Point::origin(),
effective_inv_mass: 0.0,
effective_world_inv_inertia_sqrt: AngularInertia::zero(),
@@ -239,11 +247,20 @@ impl From<RigidBodyMassPropsFlags> for RigidBodyMassProps {
}
}
impl From<MassProperties> for RigidBodyMassProps {
fn from(local_mprops: MassProperties) -> Self {
Self {
local_mprops,
..Default::default()
}
}
}
impl RigidBodyMassProps {
/// The mass of the rigid-body.
#[must_use]
pub fn mass(&self) -> Real {
crate::utils::inv(self.mass_properties.inv_mass)
crate::utils::inv(self.local_mprops.inv_mass)
}
/// The effective mass (that takes the potential translation locking into account) of
@@ -255,11 +272,10 @@ impl RigidBodyMassProps {
/// Update the world-space mass properties of `self`, taking into account the new position.
pub fn update_world_mass_properties(&mut self, position: &Isometry<Real>) {
self.world_com = self.mass_properties.world_com(&position);
self.effective_inv_mass = self.mass_properties.inv_mass;
self.effective_world_inv_inertia_sqrt = self
.mass_properties
.world_inv_inertia_sqrt(&position.rotation);
self.world_com = self.local_mprops.world_com(&position);
self.effective_inv_mass = self.local_mprops.inv_mass;
self.effective_world_inv_inertia_sqrt =
self.local_mprops.world_inv_inertia_sqrt(&position.rotation);
// Take into account translation/rotation locking.
if self
@@ -665,7 +681,7 @@ impl RigidBodyColliders {
co_pos: &mut ColliderPosition,
co_parent: &ColliderParent,
co_shape: &ColliderShape,
co_mprops: &ColliderMassProperties,
co_mprops: &ColliderMassProps,
) {
rb_changes.set(
RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
@@ -684,7 +700,7 @@ impl RigidBodyColliders {
.mass_properties(&**co_shape)
.transform_by(&co_parent.pos_wrt_parent);
self.0.push(co_handle);
rb_mprops.mass_properties += mass_properties;
rb_mprops.local_mprops += mass_properties;
rb_mprops.update_world_mass_properties(&rb_pos.position);
}
@@ -759,7 +775,7 @@ pub struct RigidBodyActivation {
impl Default for RigidBodyActivation {
fn default() -> Self {
Self::new_active()
Self::active()
}
}
@@ -770,7 +786,7 @@ impl RigidBodyActivation {
}
/// Create a new rb_activation status initialised with the default rb_activation threshold and is active.
pub fn new_active() -> Self {
pub fn active() -> Self {
RigidBodyActivation {
threshold: Self::default_threshold(),
energy: Self::default_threshold() * 4.0,
@@ -779,7 +795,7 @@ impl RigidBodyActivation {
}
/// Create a new rb_activation status initialised with the default rb_activation threshold and is inactive.
pub fn new_inactive() -> Self {
pub fn inactive() -> Self {
RigidBodyActivation {
threshold: Self::default_threshold(),
energy: 0.0,
@@ -787,6 +803,14 @@ impl RigidBodyActivation {
}
}
/// Create a new activation status that prevents the rigid-body from sleeping.
pub fn cannot_sleep() -> Self {
RigidBodyActivation {
threshold: -Real::MAX,
..Self::active()
}
}
/// Returns `true` if the body is not asleep.
#[inline]
pub fn is_active(&self) -> bool {

4
src/dynamics/solver/island_solver.rs
View File

@@ -113,7 +113,7 @@ impl IslandSolver {
let mut new_poss = *poss;
let new_vels = vels.apply_damping(params.dt, damping);
new_poss.next_position =
vels.integrate(params.dt, &poss.position, &mprops.mass_properties.local_com);
vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
bodies.set_internal(handle.0, new_vels);
bodies.set_internal(handle.0, new_poss);
@@ -140,7 +140,7 @@ impl IslandSolver {
.integrate(params.dt, vels, mprops)
.apply_damping(params.dt, &damping);
new_poss.next_position =
vels.integrate(params.dt, &poss.position, &mprops.mass_properties.local_com);
vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
bodies.set_internal(handle.0, new_vels);
bodies.set_internal(handle.0, new_poss);

8
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
View File

@@ -34,8 +34,8 @@ impl BallPositionConstraint {
let (mprops2, ids2) = rb2;
Self {
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
im1: mprops1.effective_inv_mass,
im2: mprops2.effective_inv_mass,
ii1: mprops1.effective_world_inv_inertia_sqrt.squared(),
@@ -131,7 +131,7 @@ impl BallPositionGroundConstraint {
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
}
} else {
Self {
@@ -140,7 +140,7 @@ impl BallPositionGroundConstraint {
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
}
}
}

6
src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
View File

@@ -40,8 +40,8 @@ impl WBallPositionConstraint {
let (mprops1, ids1) = rbs1;
let (mprops2, ids2) = rbs2;
let local_com1 = Point::from(gather![|ii| mprops1[ii].mass_properties.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
let local_com1 = Point::from(gather![|ii| mprops1[ii].local_mprops.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
let im1 = SimdReal::from(gather![|ii| mprops1[ii].effective_inv_mass]);
let im2 = SimdReal::from(gather![|ii| mprops2[ii].effective_inv_mass]);
let ii1 = AngularInertia::<SimdReal>::from(gather![
@@ -169,7 +169,7 @@ impl WBallPositionGroundConstraint {
cparams[ii].local_anchor2
}]);
let position2 = gather![|ii| ids2[ii].active_set_offset];
let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
Self {
anchor1,

40
src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
View File

@@ -8,8 +8,8 @@ use crate::utils::WAngularInertia;
pub(crate) struct FixedPositionConstraint {
position1: usize,
position2: usize,
local_anchor1: Isometry<Real>,
local_anchor2: Isometry<Real>,
local_frame1: Isometry<Real>,
local_frame2: Isometry<Real>,
local_com1: Point<Real>,
local_com2: Point<Real>,
im1: Real,
@@ -38,16 +38,16 @@ impl FixedPositionConstraint {
let ang_inv_lhs = (ii1 + ii2).inverse();
Self {
local_anchor1: cparams.local_anchor1,
local_anchor2: cparams.local_anchor2,
local_frame1: cparams.local_frame1,
local_frame2: cparams.local_frame2,
position1: ids1.active_set_offset,
position2: ids2.active_set_offset,
im1,
im2,
ii1,
ii2,
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
lin_inv_lhs,
ang_inv_lhs,
}
@@ -58,8 +58,8 @@ impl FixedPositionConstraint {
let mut position2 = positions[self.position2 as usize];
// Angular correction.
let anchor1 = position1 * self.local_anchor1;
let anchor2 = position2 * self.local_anchor2;
let anchor1 = position1 * self.local_frame1;
let anchor2 = position2 * self.local_frame2;
let ang_err = anchor2.rotation * anchor1.rotation.inverse();
#[cfg(feature = "dim3")]
let ang_impulse = self
@@ -75,8 +75,8 @@ impl FixedPositionConstraint {
Rotation::new(self.ii2.transform_vector(-ang_impulse)) * position2.rotation;
// Linear correction.
let anchor1 = position1 * Point::from(self.local_anchor1.translation.vector);
let anchor2 = position2 * Point::from(self.local_anchor2.translation.vector);
let anchor1 = position1 * Point::from(self.local_frame1.translation.vector);
let anchor2 = position2 * Point::from(self.local_frame2.translation.vector);
let err = anchor2 - anchor1;
let impulse = err * (self.lin_inv_lhs * params.joint_erp);
position1.translation.vector += self.im1 * impulse;
@@ -91,7 +91,7 @@ impl FixedPositionConstraint {
pub(crate) struct FixedPositionGroundConstraint {
position2: usize,
anchor1: Isometry<Real>,
local_anchor2: Isometry<Real>,
local_frame2: Isometry<Real>,
local_com2: Point<Real>,
im2: Real,
ii2: AngularInertia<Real>,
@@ -109,23 +109,23 @@ impl FixedPositionGroundConstraint {
let (mprops2, ids2) = rb2;
let anchor1;
let local_anchor2;
let local_frame2;
if flipped {
anchor1 = poss1.next_position * cparams.local_anchor2;
local_anchor2 = cparams.local_anchor1;
anchor1 = poss1.next_position * cparams.local_frame2;
local_frame2 = cparams.local_frame1;
} else {
anchor1 = poss1.next_position * cparams.local_anchor1;
local_anchor2 = cparams.local_anchor2;
anchor1 = poss1.next_position * cparams.local_frame1;
local_frame2 = cparams.local_frame2;
};
Self {
anchor1,
local_anchor2,
local_frame2,
position2: ids2.active_set_offset,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
impulse: 0.0,
}
}
@@ -134,13 +134,13 @@ impl FixedPositionGroundConstraint {
let mut position2 = positions[self.position2 as usize];
// Angular correction.
let anchor2 = position2 * self.local_anchor2;
let anchor2 = position2 * self.local_frame2;
let ang_err = anchor2.rotation * self.anchor1.rotation.inverse();
position2.rotation = ang_err.powf(-params.joint_erp) * position2.rotation;
// Linear correction.
let anchor1 = Point::from(self.anchor1.translation.vector);
let anchor2 = position2 * Point::from(self.local_anchor2.translation.vector);
let anchor2 = position2 * Point::from(self.local_frame2.translation.vector);
let err = anchor2 - anchor1;
// NOTE: no need to divide by im2 just to multiply right after.
let impulse = err * params.joint_erp;

12
src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs
View File

@@ -63,8 +63,8 @@ impl FixedVelocityConstraint {
let (poss1, vels1, mprops1, ids1) = rb1;
let (poss2, vels2, mprops2, ids2) = rb2;
let anchor1 = poss1.position * cparams.local_anchor1;
let anchor2 = poss2.position * cparams.local_anchor2;
let anchor1 = poss1.position * cparams.local_frame1;
let anchor2 = poss2.position * cparams.local_frame2;
let im1 = mprops1.effective_inv_mass;
let im2 = mprops2.effective_inv_mass;
let ii1 = mprops1.effective_world_inv_inertia_sqrt.squared();
@@ -280,13 +280,13 @@ impl FixedVelocityGroundConstraint {
let (anchor1, anchor2) = if flipped {
(
poss1.position * cparams.local_anchor2,
poss2.position * cparams.local_anchor1,
poss1.position * cparams.local_frame2,
poss2.position * cparams.local_frame1,
)
} else {
(
poss1.position * cparams.local_anchor1,
poss2.position * cparams.local_anchor2,
poss1.position * cparams.local_frame1,
poss2.position * cparams.local_frame2,
)
};

24
src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
View File

@@ -91,12 +91,12 @@ impl WFixedVelocityConstraint {
]);
let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
let local_anchor1 = Isometry::from(gather![|ii| cparams[ii].local_anchor1]);
let local_anchor2 = Isometry::from(gather![|ii| cparams[ii].local_anchor2]);
let local_frame1 = Isometry::from(gather![|ii| cparams[ii].local_frame1]);
let local_frame2 = Isometry::from(gather![|ii| cparams[ii].local_frame2]);
let impulse = SpacialVector::from(gather![|ii| cparams[ii].impulse]);
let anchor1 = position1 * local_anchor1;
let anchor2 = position2 * local_anchor2;
let anchor1 = position1 * local_frame1;
let anchor2 = position2 * local_frame2;
let ii1 = ii1_sqrt.squared();
let ii2 = ii2_sqrt.squared();
let r1 = anchor1.translation.vector - world_com1.coords;
@@ -363,20 +363,20 @@ impl WFixedVelocityGroundConstraint {
]);
let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
let local_anchor1 = Isometry::from(gather![|ii| if flipped[ii] {
cparams[ii].local_anchor2
let local_frame1 = Isometry::from(gather![|ii| if flipped[ii] {
cparams[ii].local_frame2
} else {
cparams[ii].local_anchor1
cparams[ii].local_frame1
}]);
let local_anchor2 = Isometry::from(gather![|ii| if flipped[ii] {
cparams[ii].local_anchor1
let local_frame2 = Isometry::from(gather![|ii| if flipped[ii] {
cparams[ii].local_frame1
} else {
cparams[ii].local_anchor2
cparams[ii].local_frame2
}]);
let impulse = SpacialVector::from(gather![|ii| cparams[ii].impulse]);
let anchor1 = position1 * local_anchor1;
let anchor2 = position2 * local_anchor2;
let anchor1 = position1 * local_frame1;
let anchor2 = position2 * local_frame2;
let ii2 = ii2_sqrt.squared();
let r1 = anchor1.translation.vector - world_com1.coords;
let r2 = anchor2.translation.vector - world_com2.coords;

6
src/dynamics/solver/joint_constraint/generic_position_constraint.rs
View File

@@ -41,8 +41,8 @@ impl GenericPositionConstraint {
im2,
ii1,
ii2,
local_com1: rb1.mass_properties.local_com,
local_com2: rb2.mass_properties.local_com,
local_com1: rb1.local_mprops.local_com,
local_com2: rb2.local_mprops.local_com,
joint: *joint,
}
}
@@ -215,7 +215,7 @@ impl GenericPositionGroundConstraint {
position2: rb2.active_set_offset,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_com2: rb2.mass_properties.local_com,
local_com2: rb2.local_mprops.local_com,
joint: *joint,
}
}

6
src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
View File

@@ -51,8 +51,8 @@ impl RevolutePositionConstraint {
ii1,
ii2,
ang_inv_lhs,
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
local_anchor1: cparams.local_anchor1,
local_anchor2: cparams.local_anchor2,
local_axis1: cparams.local_axis1,
@@ -183,7 +183,7 @@ impl RevolutePositionGroundConstraint {
local_anchor2,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
axis1,
local_axis2,
position2: ids2.active_set_offset,

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