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Rename rigid-body static to fixed

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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
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8
examples3d/ccd3.rs
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@@ -21,7 +21,7 @@ fn create_wall(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -93,7 +93,7 @@ pub fn init_world(testbed: &mut Testbed) {
.density(10.0)
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS);
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, 0.0])
.ccd_enabled(true);
@@ -102,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Second rigid-body with CCD enabled.
let collider = ColliderBuilder::ball(1.0).density(10.0);
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, shift_z])
.ccd_enabled(true);

4
examples3d/collision_groups3.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, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -73,7 +73,7 @@ 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, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).collision_groups(group);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/compound3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ 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(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
// First option: attach several colliders to a single rigid-body.

4
examples3d/convex_decomposition3.rs
View File

@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -86,7 +86,7 @@ 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(vector![x, y, z]);
let body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(body);
for shape in &shapes {

4
examples3d/convex_polyhedron3.rs
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@@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 40.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
colliders.insert_with_parent(collider, handle, &mut bodies);

2
examples3d/damping3.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, 0.0])
.linvel(vector![x * 10.0, y * 10.0, 0.0])
.angvel(Vector::z() * 100.0)

4
examples3d/debug_add_remove_collider3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 3.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4);
let mut ground_collider_handle =
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 0.2, 0.0]);
let rb = RigidBodyBuilder::dynamic().translation(vector![0.0, 0.2, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);

4
examples3d/debug_articulations3.rs
View File

@@ -20,7 +20,7 @@ fn create_ball_articulations(
let status = if i == 0 {
// && (k % 4 == 0 || k == num - 1) {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
@@ -74,7 +74,7 @@ pub fn init_world(testbed: &mut Testbed) {
.rotation(vector![0.1, 0.0, 0.1]);
colliders.insert(collider);
let rigid_body = RigidBodyBuilder::new_dynamic();
let rigid_body = RigidBodyBuilder::dynamic();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.0, 0.0])
.rotation(vector![0.1, 0.0, 0.1]);

4
examples3d/debug_big_colliders3.rs
View File

@@ -13,7 +13,7 @@ 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 halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis()));
let collider = ColliderBuilder::new(halfspace);
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
let curr_height = 0.1f32.min(curr_width);
curr_y += curr_height * 4.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, curr_y, 0.0]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, curr_y, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width);
colliders.insert_with_parent(collider, handle, &mut bodies);

5
examples3d/debug_boxes3.rs
View File

@@ -17,8 +17,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
for _ in 0..6 {
let rigid_body =
RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -26,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the dynamic box rigid body.
for _ in 0..2 {
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![1.1, 0.0, 0.0])
// .rotation(vector![0.8, 0.2, 0.1])
.can_sleep(false);

4
examples3d/debug_cylinder3.rs
View File

@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = -centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cylinder(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/debug_dynamic_collider_add3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);

4
examples3d/debug_friction3.rs
View File

@@ -16,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).friction(1.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Build a dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 1.1, 0.0])
.rotation(Vector::y() * 0.3);
let handle = bodies.insert(rigid_body);

6
examples3d/debug_infinite_fall3.rs
View File

@@ -16,21 +16,21 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 4.0, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 4.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rad = 1.0;
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 7.0 * rad, 0.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 2.0 * rad, 0.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);

8
examples3d/debug_prismatic3.rs
View File

@@ -7,7 +7,7 @@ fn prismatic_repro(
impulse_joints: &mut ImpulseJointSet,
box_center: Point<f32>,
) {
let box_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
box_center.x,
box_center.y,
box_center.z
@@ -24,7 +24,7 @@ fn prismatic_repro(
for pos in wheel_positions {
let wheel_pos_in_world = box_center + pos;
let wheel_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
let wheel_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
@@ -40,7 +40,7 @@ fn prismatic_repro(
}
// put a small box under one of the wheels
let gravel = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
let gravel = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
box_center.x + 1.0,
box_center.y - 2.4,
-1.0
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/debug_rollback3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);

6
examples3d/debug_shape_modification3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
.friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);
@@ -87,7 +87,7 @@ 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(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {

4
examples3d/debug_triangle3.rs
View File

@@ -17,13 +17,13 @@ pub fn init_world(testbed: &mut Testbed) {
point![0.0, 0.0, 10.0],
];
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![1.1, 0.01, 0.0])
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false);

4
examples3d/debug_trimesh3.rs
View File

@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
];
// Dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 35.0, 0.0])
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false);
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vtx, idx);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/domino3.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, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
* tilt
* rot;
let rigid_body = RigidBodyBuilder::new_dynamic().position(position);
let rigid_body = RigidBodyBuilder::dynamic().position(position);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/fountain3.rs
View File

@@ -17,14 +17,14 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 2.1; // 16.0;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
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(vector![0.0, 10.0, 0.0]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0, 0.0]);
let handle = physics.bodies.insert(rigid_body);
let collider = match run_state.timestep_id % 3 {
0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),

4
examples3d/harness_capsules3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(harness: &mut Harness) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ 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(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/heightfield3.rs
View File

@@ -31,7 +31,7 @@ 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);
@@ -55,7 +55,7 @@ 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(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 6 {

48
examples3d/joints3.rs
View File

@@ -9,9 +9,9 @@ fn create_coupled_joints(
origin: Point<f32>,
use_articulations: bool,
) {
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
let body1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
RigidBodyBuilder::dynamic()
.translation(origin.coords)
.linvel(vector![5.0, 5.0, 5.0]),
);
@@ -42,15 +42,14 @@ fn create_prismatic_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, origin.z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
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(vector![origin.x, origin.y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
@@ -87,15 +86,14 @@ fn create_actuated_prismatic_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, origin.z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
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(vector![origin.x, origin.y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
@@ -153,7 +151,7 @@ fn create_revolute_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, 0.0]);
let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, 0.0]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, bodies);
@@ -170,7 +168,7 @@ fn create_revolute_joints(
let mut handles = [curr_parent; 4];
for k in 0..4 {
let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]);
let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]);
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handles[k], bodies);
@@ -210,14 +208,13 @@ fn create_revolute_joints_with_limits(
origin: Point<f32>,
use_articulations: bool,
) {
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
let platform1 = bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords));
let platform1 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords));
colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform1, bodies);
let shift = vector![0.0, 0.0, 6.0];
let platform2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift));
let platform2 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords + shift));
colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform2, bodies);
let z = Vector::z_axis();
@@ -256,9 +253,8 @@ fn create_revolute_joints_with_limits(
}
// Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
let cuboid_body1 = bodies.insert(
RigidBodyBuilder::new_dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]),
);
let cuboid_body1 = bodies
.insert(RigidBodyBuilder::dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]));
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
cuboid_body1,
@@ -266,8 +262,7 @@ fn create_revolute_joints_with_limits(
);
let cuboid_body2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift + vector![2.0, 16.0, 0.0]),
RigidBodyBuilder::dynamic().translation(origin.coords + shift + vector![2.0, 16.0, 0.0]),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
@@ -299,7 +294,7 @@ fn create_fixed_joints(
// 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) {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
@@ -358,7 +353,7 @@ fn create_spherical_joints(
let fi = i as f32;
let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
@@ -408,17 +403,16 @@ fn create_spherical_joints_with_limits(
) {
let shift = vector![0.0, 0.0, 3.0];
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
let ball1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
RigidBodyBuilder::dynamic()
.translation(origin.coords + shift)
.linvel(vector![20.0, 20.0, 0.0]),
);
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball1, bodies);
let ball2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift * 2.0));
let ball2 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords + shift * 2.0));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball2, bodies);
let joint1 = SphericalJointBuilder::new()
@@ -465,7 +459,7 @@ fn create_actuated_revolute_joints(
// fixed bodies. Because physx will crash if we add
// a joint between these.
let status = if i == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
@@ -533,7 +527,7 @@ fn create_actuated_spherical_joints(
// fixed bodies. Because physx will crash if we add
// a joint between these.
let status = if i == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};

6
examples3d/keva3.rs
View File

@@ -38,7 +38,7 @@ pub fn build_block(
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z
@@ -59,7 +59,7 @@ pub fn build_block(
for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
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(vector![
let rigid_body = RigidBodyBuilder::dynamic().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
@@ -88,7 +88,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);

6
examples3d/locked_rotations3.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, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* A rectangle that only rotates along the `x` axis.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 3.0, 0.0])
.lock_translations()
.restrict_rotations(true, false, false);
@@ -38,7 +38,7 @@ 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, 0.0])
.rotation(Vector::x() * 1.0)
.lock_rotations();

4
examples3d/one_way_platforms3.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(9.0, 0.5, 25.0)
@@ -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(1.0, 2.0, 1.5);
let body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 6.0, 20.0]);
let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 6.0, 20.0]);
let handle = physics.bodies.insert(body);
physics
.colliders

8
examples3d/platform3.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, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -40,7 +40,7 @@ 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(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -51,7 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based().translation(vector![
let platform_body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![
0.0,
1.5 + 0.8,
-10.0 * rad
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based().translation(vector![
let platform_body = RigidBodyBuilder::kinematic_position_based().translation(vector![
0.0,
2.0 + 1.5 + 0.8,
-10.0 * rad

4
examples3d/primitives3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -44,7 +44,7 @@ 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(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {

4
examples3d/restitution3.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, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 2.0).restitution(1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ 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![
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
x * 2.0,
10.0 * (j as f32 + 1.0),
0.0

6
examples3d/sensor3.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, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -38,7 +38,7 @@ 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(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 5.0, 0.0]);
let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which

4
examples3d/trimesh3.rs
View File

@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
let heightfield = HeightField::new(heights, ground_size);
let (vertices, indices) = heightfield.to_trimesh();
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -60,7 +60,7 @@ 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(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 6 {