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

Add the option to automatically wake-up rigid-bodies a new joint is attached to

Browse Source
This commit is contained in:
Sébastien Crozet
2022-05-30 18:24:46 +02:00
parent 6ce26f3818
commit ab8833f275
16 changed files with 138 additions and 111 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples3d/debug_articulations3.rs
View File

@@ -39,7 +39,7 @@ fn create_ball_articulations(
let parent_handle = *body_handles.last().unwrap();
let joint =
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
}
// Horizontal multibody_joint.
@@ -52,7 +52,7 @@ fn create_ball_articulations(
// let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
// let joint =
// RevoluteJoint::new(Vector::x_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
body_handles.push(child_handle);

44
examples3d/debug_excentric_boxes3.rs Normal file
View File

@@ -0,0 +1,44 @@
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
*/
let ground_size = 100.1;
let ground_height = 0.1;
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);
// Build the dynamic box rigid body.
let (mut vtx, idx) = Cuboid::new(vector![1.0, 1.0, 1.0]).to_trimesh();
vtx.iter_mut()
.for_each(|pt| *pt += vector![100.0, 100.0, 100.0]);
let shape = SharedShape::convex_mesh(vtx, &idx).unwrap();
for _ in 0..2 {
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![-100.0, -100.0 + 10.0, -100.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::new(shape.clone());
colliders.insert_with_parent(collider, handle, &mut bodies);
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
}

2
examples3d/debug_prismatic3.rs
View File

@@ -36,7 +36,7 @@ fn prismatic_repro(
let prismatic = PrismaticJointBuilder::new(Vector::y_axis())
.local_anchor1(point![pos.x, pos.y, pos.z])
.motor_position(0.0, stiffness, damping);
impulse_joints.insert(box_rb, wheel_rb, prismatic);
impulse_joints.insert(box_rb, wheel_rb, prismatic, true);
}
// put a small box under one of the wheels

64
examples3d/joints3.rs
View File

@@ -24,9 +24,9 @@ fn create_coupled_joints(
.coupled_axes(JointAxesMask::Y | JointAxesMask::Z);
if use_articulations {
multibody_joints.insert(ground, body1, joint1);
multibody_joints.insert(ground, body1, joint1, true);
} else {
impulse_joints.insert(ground, body1, joint1);
impulse_joints.insert(ground, body1, joint1, true);
}
}
@@ -66,9 +66,9 @@ fn create_prismatic_joints(
.limits([-2.0, 2.0]);
if use_articulations {
multibody_joints.insert(curr_parent, curr_child, prism);
multibody_joints.insert(curr_parent, curr_child, prism, true);
} else {
impulse_joints.insert(curr_parent, curr_child, prism);
impulse_joints.insert(curr_parent, curr_child, prism, true);
}
curr_parent = curr_child;
}
@@ -130,9 +130,9 @@ fn create_actuated_prismatic_joints(
}
if use_articulations {
multibody_joints.insert(curr_parent, curr_child, prism);
multibody_joints.insert(curr_parent, curr_child, prism, true);
} else {
impulse_joints.insert(curr_parent, curr_child, prism);
impulse_joints.insert(curr_parent, curr_child, prism, true);
}
curr_parent = curr_child;
@@ -185,15 +185,15 @@ fn create_revolute_joints(
];
if use_articulations {
multibody_joints.insert(curr_parent, handles[0], revs[0]);
multibody_joints.insert(handles[0], handles[1], revs[1]);
multibody_joints.insert(handles[1], handles[2], revs[2]);
multibody_joints.insert(handles[2], handles[3], revs[3]);
multibody_joints.insert(curr_parent, handles[0], revs[0], true);
multibody_joints.insert(handles[0], handles[1], revs[1], true);
multibody_joints.insert(handles[1], handles[2], revs[2], true);
multibody_joints.insert(handles[2], handles[3], revs[3], true);
} else {
impulse_joints.insert(curr_parent, handles[0], revs[0]);
impulse_joints.insert(handles[0], handles[1], revs[1]);
impulse_joints.insert(handles[1], handles[2], revs[2]);
impulse_joints.insert(handles[2], handles[3], revs[3]);
impulse_joints.insert(curr_parent, handles[0], revs[0], true);
impulse_joints.insert(handles[0], handles[1], revs[1], true);
impulse_joints.insert(handles[1], handles[2], revs[2], true);
impulse_joints.insert(handles[2], handles[3], revs[3], true);
}
curr_parent = handles[3];
@@ -228,9 +228,9 @@ fn create_revolute_joints_with_limits(
// .coupled_axes(JointAxesMask::ANG_Y | JointAxesMask::ANG_Z);
if use_articulations {
multibody_joints.insert(ground, platform1, joint1);
multibody_joints.insert(ground, platform1, joint1, true);
} else {
impulse_joints.insert(ground, platform1, joint1);
impulse_joints.insert(ground, platform1, joint1, true);
}
let joint2 = RevoluteJointBuilder::new(z)
@@ -247,9 +247,9 @@ fn create_revolute_joints_with_limits(
// .coupled_axes(JointAxesMask::ANG_Y | JointAxesMask::ANG_Z);
if use_articulations {
multibody_joints.insert(platform1, platform2, joint2);
multibody_joints.insert(platform1, platform2, joint2, true);
} else {
impulse_joints.insert(platform1, platform2, joint2);
impulse_joints.insert(platform1, platform2, joint2, true);
}
// Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
@@ -315,9 +315,9 @@ fn create_fixed_joints(
let joint = FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}
@@ -326,7 +326,7 @@ fn create_fixed_joints(
let parent_index = body_handles.len() - 1;
let parent_handle = body_handles[parent_index];
let joint = FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
body_handles.push(child_handle);
@@ -374,9 +374,9 @@ fn create_spherical_joints(
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}
@@ -385,7 +385,7 @@ fn create_spherical_joints(
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
body_handles.push(child_handle);
@@ -426,11 +426,11 @@ fn create_spherical_joints_with_limits(
.limits(JointAxis::Y, [-0.3, 0.3]);
if use_articulations {
multibody_joints.insert(ground, ball1, joint1);
multibody_joints.insert(ball1, ball2, joint2);
multibody_joints.insert(ground, ball1, joint1, true);
multibody_joints.insert(ball1, ball2, joint2, true);
} else {
impulse_joints.insert(ground, ball1, joint1);
impulse_joints.insert(ball1, ball2, joint2);
impulse_joints.insert(ground, ball1, joint1, true);
impulse_joints.insert(ball1, ball2, joint2, true);
}
}
@@ -493,9 +493,9 @@ fn create_actuated_revolute_joints(
}
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}
@@ -559,9 +559,9 @@ fn create_actuated_spherical_joints(
}
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}