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Implement multibody joints and the new solver

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This commit is contained in:
Sébastien Crozet
2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
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6
benchmarks2d/Cargo.toml
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@@ -2,7 +2,7 @@
name = "rapier-benchmarks-2d"
version = "0.1.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ]
edition = "2018"
edition = "2021"
[features]
parallel = [ "rapier2d/parallel", "rapier_testbed2d/parallel" ]
@@ -16,10 +16,10 @@ rand = "0.8"
Inflector = "0.11"
[dependencies.rapier_testbed2d]
path = "../build/rapier_testbed2d"
path = "../crates/rapier_testbed2d"
[dependencies.rapier2d]
path = "../build/rapier2d"
path = "../crates/rapier2d"
[[bin]]
name = "all_benchmarks2"

6
benchmarks2d/balls2.rs
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@@ -7,7 +7,9 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
*/
@@ -58,6 +60,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 2.5], 5.0);
}

5
benchmarks2d/boxes2.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -63,6 +64,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 50.0], 10.0);
}

5
benchmarks2d/capsules2.rs
View File

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -65,6 +66,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 50.0], 10.0);
}

5
benchmarks2d/convex_polygons2.rs
View File

@@ -9,7 +9,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -76,6 +77,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 50.0], 10.0);
}

5
benchmarks2d/heightfield2.rs
View File

@@ -8,7 +8,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -63,6 +64,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 50.0], 10.0);
}

13
benchmarks2d/joint_ball2.rs
View File

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Create the balls
@@ -41,16 +42,16 @@ pub fn init_world(testbed: &mut Testbed) {
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
joints.insert(parent_handle, child_handle, joint);
let joint = RevoluteJoint::new().local_anchor2(point![0.0, shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
joints.insert(parent_handle, child_handle, joint);
let joint = RevoluteJoint::new().local_anchor2(point![-shift, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
@@ -60,6 +61,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 5.0);
}

21
benchmarks2d/joint_fixed2.rs
View File

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Create the balls
@@ -46,22 +47,18 @@ pub fn init_world(testbed: &mut Testbed) {
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry::identity(),
Isometry::translation(0.0, shift),
);
joints.insert(parent_handle, child_handle, joint);
let joint =
FixedJoint::new().local_frame2(Isometry::translation(0.0, shift));
impulse_joints.insert(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(
Isometry::identity(),
Isometry::translation(-shift, 0.0),
);
joints.insert(parent_handle, child_handle, joint);
let joint =
FixedJoint::new().local_frame2(Isometry::translation(-shift, 0.0));
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
@@ -73,6 +70,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![50.0, 50.0], 5.0);
}

15
benchmarks2d/joint_prismatic2.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Create the balls
@@ -46,12 +47,10 @@ pub fn init_world(testbed: &mut Testbed) {
UnitVector::new_normalize(vector![-1.0, 1.0])
};
let mut prism =
PrismaticJoint::new(Point::origin(), axis, point![0.0, shift], axis);
prism.limits_enabled = true;
prism.limits[0] = -1.5;
prism.limits[1] = 1.5;
joints.insert(curr_parent, curr_child, prism);
let mut prism = PrismaticJoint::new(axis)
.local_anchor2(point![0.0, shift])
.limit_axis([-1.5, 1.5]);
impulse_joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child;
}
@@ -61,6 +60,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![80.0, 80.0], 15.0);
}

5
benchmarks2d/pyramid2.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -50,6 +51,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 2.5], 5.0);
}