nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rename rigid-body static to fixed

Browse Source
This commit is contained in:
Sébastien Crozet
2022-03-19 16:23:09 +01:00
committed by Sébastien Crozet
parent db6a8c526d
commit a9e3441ecd
87 changed files with 284 additions and 271 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples2d/add_remove2.rs
View File

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
let platform_handles = positions
.into_iter()
.map(|pos| {
let rigid_body = RigidBodyBuilder::new_kinematic_position_based().translation(pos);
let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(pos);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
if state.timestep_id % 10 == 0 {
let x = rand::random::<f32>() * 10.0 - 5.0;
let y = rand::random::<f32>() * 10.0 + 10.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = physics.bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
physics

4
examples2d/ccd2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 25.0;
let ground_thickness = 0.1;
let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true);
let rigid_body = RigidBodyBuilder::fixed().ccd_enabled(true);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
@@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x, y])
.linvel(vector![100.0, -10.0])
.ccd_enabled(true);

4
examples2d/collision_groups2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 5.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -70,7 +70,7 @@ pub fn init_world(testbed: &mut Testbed) {
(BLUE_GROUP, [0.0, 0.0, 1.0])
};
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).collision_groups(group);
colliders.insert_with_parent(collider, handle, &mut bodies);

8
examples2d/convex_polygons2.rs
View File

@@ -17,19 +17,19 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 30.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
@@ -55,7 +55,7 @@ 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(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();

2
examples2d/damping2.rs
View File

@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos();
// Build the rigid body.
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![x, y])
.linvel(vector![x * 10.0, y * 10.0])
.angvel(100.0)

4
examples2d/debug_box_ball2.rs
View File

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Ground
*/
let rad = 1.0;
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.translation(vector![0.0, -rad])
.rotation(std::f32::consts::PI / 4.0);
let handle = bodies.insert(rigid_body);
@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
colliders.insert_with_parent(collider, handle, &mut bodies);
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 3.0 * rad])
.can_sleep(false);
let handle = bodies.insert(rigid_body);

4
examples2d/drum2.rs
View File

@@ -26,7 +26,7 @@ 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(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based();
let platform_body = RigidBodyBuilder::kinematic_velocity_based();
let velocity_based_platform_handle = bodies.insert(platform_body);
let sides = [

4
examples2d/heightfield2.rs
View File

@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
});
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -46,7 +46,7 @@ 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(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {

2
examples2d/joints2.rs
View File

@@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
let fi = i as f32;
let status = if i == 0 && k == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};

6
examples2d/locked_rotations2.rs
View File

@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 5.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* A rectangle that only rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 3.0])
.lock_translations();
let handle = bodies.insert(rigid_body);
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* A tilted capsule that cannot rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 5.0])
.rotation(1.0)
.lock_rotations();

4
examples2d/one_way_platforms2.rs
View File

@@ -68,7 +68,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(25.0, 0.5)
@@ -96,7 +96,7 @@ pub fn init_world(testbed: &mut Testbed) {
if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
// Spawn a new cube.
let collider = ColliderBuilder::cuboid(1.5, 2.0);
let body = RigidBodyBuilder::new_dynamic().translation(vector![20.0, 10.0]);
let body = RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]);
let handle = physics.bodies.insert(body);
physics
.colliders

10
examples2d/platform2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 10.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -37,7 +37,7 @@ 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(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -47,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
.translation(vector![-10.0 * rad, 1.5 + 0.8]);
let platform_body =
RigidBodyBuilder::kinematic_velocity_based().translation(vector![-10.0 * rad, 1.5 + 0.8]);
let velocity_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
@@ -56,7 +56,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based()
let platform_body = RigidBodyBuilder::kinematic_position_based()
.translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8]);
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);

4
examples2d/polyline2.rs
View File

@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
points.push(point![ground_size / 2.0, 40.0]);
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::polyline(points, None);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -48,7 +48,7 @@ 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(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {

4
examples2d/pyramid2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 10.0;
let ground_thickness = 1.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = fi * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

6
examples2d/restitution2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.;
let ground_height = 1.0;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).restitution(1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,8 +27,8 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..2 {
for i in 0..=num {
let x = (i as f32) - num as f32 / 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]);
let rigid_body =
RigidBodyBuilder::dynamic().translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).restitution((i as f32) / (num as f32));
colliders.insert_with_parent(collider, handle, &mut bodies);

6
examples2d/sensor2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0]);
let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0]);
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which

8
examples2d/trimesh2.rs
View File

@@ -21,19 +21,19 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size]);
let handle = bodies.insert(rigid_body);
@@ -85,7 +85,7 @@ pub fn init_world(testbed: &mut Testbed) {
for k in 0..5 {
let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone());
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
.rotation(angle);
let handle = bodies.insert(rigid_body);