First public release of Rapier.

examples3d/joints3.rs

@@ -0,0 +1,272 @@
+use na::{Isometry3, Point3, Unit, Vector3};
+use rapier3d::dynamics::{
+    BallJoint, BodyStatus, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder,
+    RigidBodySet,
+};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+fn create_prismatic_joints(
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    joints: &mut JointSet,
+    origin: Point3<f32>,
+    num: usize,
+) {
+    let rad = 0.4;
+    let shift = 1.0;
+
+    let ground = RigidBodyBuilder::new_static()
+        .translation(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);
+
+    for i in 0..num {
+        let z = origin.z + (i + 1) as f32 * shift;
+        let density = 1.0;
+        let rigid_body = RigidBodyBuilder::new_dynamic()
+            .translation(origin.x, origin.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, bodies);
+
+        let axis = if i % 2 == 0 {
+            Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+        } else {
+            Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+        };
+
+        let z = Vector3::z();
+        let mut prism = PrismaticJoint::new(
+            Point3::origin(),
+            axis,
+            z,
+            Point3::new(0.0, 0.0, -shift),
+            axis,
+            z,
+        );
+        prism.limits_enabled = true;
+        prism.limits[0] = -2.0;
+        prism.limits[1] = 2.0;
+        joints.insert(bodies, curr_parent, curr_child, prism);
+
+        curr_parent = curr_child;
+    }
+}
+
+fn create_revolute_joints(
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    joints: &mut JointSet,
+    origin: Point3<f32>,
+    num: usize,
+) {
+    let rad = 0.4;
+    let shift = 2.0;
+
+    let ground = RigidBodyBuilder::new_static()
+        .translation(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);
+
+    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),
+        ];
+
+        let mut handles = [curr_parent; 4];
+        for k in 0..4 {
+            let density = 1.0;
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .position(positions[k])
+                .build();
+            handles[k] = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad, rad)
+                .density(density)
+                .build();
+            colliders.insert(collider, handles[k], bodies);
+        }
+
+        // Setup four joints.
+        let o = Point3::origin();
+        let x = Vector3::x_axis();
+        let z = Vector3::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),
+        ];
+
+        joints.insert(bodies, curr_parent, handles[0], revs[0]);
+        joints.insert(bodies, handles[0], handles[1], revs[1]);
+        joints.insert(bodies, handles[1], handles[2], revs[2]);
+        joints.insert(bodies, handles[2], handles[3], revs[3]);
+
+        curr_parent = handles[3];
+    }
+}
+
+fn create_fixed_joints(
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    joints: &mut JointSet,
+    origin: Point3<f32>,
+    num: usize,
+) {
+    let rad = 0.4;
+    let shift = 1.0;
+
+    let mut body_handles = Vec::new();
+
+    for k in 0..num {
+        for i in 0..num {
+            let fk = k as f32;
+            let fi = i as f32;
+
+            // NOTE: the num - 2 test is to avoid two consecutive
+            // fixed bodies. Because physx will crash if we add
+            // a joint between these.
+            let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
+                BodyStatus::Static
+            } else {
+                BodyStatus::Dynamic
+            };
+
+            let rigid_body = RigidBodyBuilder::new(status)
+                .translation(origin.x + fk * shift, origin.y, origin.z + fi * shift)
+                .build();
+            let child_handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad).density(1.0).build();
+            colliders.insert(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),
+                );
+                joints.insert(bodies, parent_handle, child_handle, joint);
+            }
+
+            // Horizontal joint.
+            if k > 0 {
+                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),
+                );
+                joints.insert(bodies, parent_handle, child_handle, joint);
+            }
+
+            body_handles.push(child_handle);
+        }
+    }
+}
+
+fn create_ball_joints(
+    bodies: &mut RigidBodySet,
+    colliders: &mut ColliderSet,
+    joints: &mut JointSet,
+    num: usize,
+) {
+    let rad = 0.4;
+    let shift = 1.0;
+
+    let mut body_handles = Vec::new();
+
+    for k in 0..num {
+        for i in 0..num {
+            let fk = k as f32;
+            let fi = i as f32;
+
+            let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
+                BodyStatus::Static
+            } else {
+                BodyStatus::Dynamic
+            };
+
+            let rigid_body = RigidBodyBuilder::new(status)
+                .translation(fk * shift, 0.0, fi * shift)
+                .build();
+            let child_handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad).density(1.0).build();
+            colliders.insert(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));
+                joints.insert(bodies, parent_handle, child_handle, joint);
+            }
+
+            // Horizontal joint.
+            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));
+                joints.insert(bodies, parent_handle, child_handle, joint);
+            }
+
+            body_handles.push(child_handle);
+        }
+    }
+}
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut joints = JointSet::new();
+
+    create_prismatic_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut joints,
+        Point3::new(20.0, 10.0, 0.0),
+        5,
+    );
+    create_revolute_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut joints,
+        Point3::new(20.0, 0.0, 0.0),
+        3,
+    );
+    create_fixed_joints(
+        &mut bodies,
+        &mut colliders,
+        &mut joints,
+        Point3::new(0.0, 10.0, 0.0),
+        5,
+    );
+    create_ball_joints(&mut bodies, &mut colliders, &mut joints, 15);
+
+    /*
+     * 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));
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
+    testbed.run()
+}