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

Implement multibody joints and the new solver

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

6
examples3d/Cargo.toml
View File

@@ -2,7 +2,7 @@
name = "rapier-examples-3d"
version = "0.1.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ]
edition = "2018"
edition = "2021"
default-run = "all_examples3"
[features]
@@ -20,10 +20,10 @@ wasm-bindgen = "0.2"
obj-rs = { version = "0.6", default-features = false }
[dependencies.rapier_testbed3d]
path = "../build/rapier_testbed3d"
path = "../crates/rapier_testbed3d"
[dependencies.rapier3d]
path = "../build/rapier3d"
path = "../crates/rapier3d"
[[bin]]
name = "all_examples3"

11
examples3d/all_examples3.rs
View File

@@ -8,6 +8,7 @@ use inflector::Inflector;
use rapier_testbed3d::{Testbed, TestbedApp};
use std::cmp::Ordering;
mod articulations3;
mod ccd3;
mod collision_groups3;
mod compound3;
@@ -15,6 +16,7 @@ mod convex_decomposition3;
mod convex_polyhedron3;
mod damping3;
mod debug_add_remove_collider3;
mod debug_articulations3;
mod debug_big_colliders3;
mod debug_boxes3;
mod debug_cylinder3;
@@ -29,7 +31,7 @@ mod debug_trimesh3;
mod domino3;
mod fountain3;
mod heightfield3;
mod joints3;
// mod joints3;
mod keva3;
mod locked_rotations3;
mod one_way_platforms3;
@@ -78,6 +80,10 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Fountain", fountain3::init_world),
("Primitives", primitives3::init_world),
(
"Multibody joints",
articulations3::init_world_with_articulations,
),
("CCD", ccd3::init_world),
("Collision groups", collision_groups3::init_world),
("Compound", compound3::init_world),
@@ -86,7 +92,7 @@ pub fn main() {
("Damping", damping3::init_world),
("Domino", domino3::init_world),
("Heightfield", heightfield3::init_world),
("Joints", joints3::init_world),
("Impulse Joints", articulations3::init_world_with_joints),
("Locked rotations", locked_rotations3::init_world),
("One-way platforms", one_way_platforms3::init_world),
("Platform", platform3::init_world),
@@ -94,6 +100,7 @@ pub fn main() {
("Sensor", sensor3::init_world),
("TriMesh", trimesh3::init_world),
("Keva tower", keva3::init_world),
("(Debug) multibody_joints", debug_articulations3::init_world),
(
"(Debug) add/rm collider",
debug_add_remove_collider3::init_world,

678
examples3d/articulations3.rs Normal file
View File

@@ -0,0 +1,678 @@
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_prismatic_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
origin: Point<f32>,
num: usize,
use_articulations: bool,
) {
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(vector![origin.x, origin.y, origin.z])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
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])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
UnitVector::new_normalize(vector![1.0f32, 1.0, 0.0])
} else {
UnitVector::new_normalize(vector![-1.0f32, 1.0, 0.0])
};
let prism = PrismaticJoint::new(axis)
.local_anchor1(point![0.0, 0.0, 0.0])
.local_anchor2(point![0.0, 0.0, -shift])
.limit_axis([-2.0, 2.0]);
if use_articulations {
multibody_joints.insert(curr_parent, curr_child, prism);
} else {
impulse_joints.insert(curr_parent, curr_child, prism);
}
curr_parent = curr_child;
}
}
fn create_actuated_prismatic_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
origin: Point<f32>,
num: usize,
use_articulations: bool,
) {
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(vector![origin.x, origin.y, origin.z])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
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])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
} else {
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let mut prism = PrismaticJoint::new(axis)
.local_anchor1(point![0.0, 0.0, 0.0])
.local_anchor2(point![0.0, 0.0, -shift]);
if i == 1 {
prism = prism
.limit_axis([-Real::MAX, 5.0])
.motor_velocity(1.0, 1.0)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(1.0);
} else if i > 1 {
prism = prism.motor_position(2.0, 0.01, 1.0);
} else {
prism = prism
.motor_velocity(1.0, 1.0)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(0.7)
.limit_axis([-2.0, 5.0]);
}
if use_articulations {
multibody_joints.insert(curr_parent, curr_child, prism);
} else {
impulse_joints.insert(curr_parent, curr_child, prism);
}
curr_parent = curr_child;
}
}
fn create_revolute_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
origin: Point<f32>,
num: usize,
use_articulations: bool,
) {
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static()
.translation(vector![origin.x, origin.y, 0.0])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert_with_parent(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 = [
Isometry::translation(origin.x, origin.y, z),
Isometry::translation(origin.x + shift, origin.y, z),
Isometry::translation(origin.x + shift, origin.y, z + shift),
Isometry::translation(origin.x, origin.y, z + shift),
];
let mut handles = [curr_parent; 4];
for k in 0..4 {
let rigid_body = RigidBodyBuilder::new_dynamic()
.position(positions[k])
.build();
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert_with_parent(collider, handles[k], bodies);
}
// Setup four impulse_joints.
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![shift, 0.0, 0.0]),
];
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]);
} 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]);
}
curr_parent = handles[3];
}
}
fn create_revolute_joints_with_limits(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
origin: Point<f32>,
use_articulations: bool,
) {
let ground = bodies.insert(
RigidBodyBuilder::new_static()
.translation(origin.coords)
.build(),
);
let platform1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(),
platform1,
bodies,
);
let shift = vector![0.0, 0.0, 6.0];
let platform2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(),
platform2,
bodies,
);
let z = Vector::z_axis();
let joint1 = RevoluteJoint::new(z).limit_axis([-0.2, 0.2]);
if use_articulations {
multibody_joints.insert(ground, platform1, joint1);
} else {
impulse_joints.insert(ground, platform1, joint1);
}
let joint2 = RevoluteJoint::new(z)
.local_anchor2(-Point::from(shift))
.limit_axis([-0.2, 0.2]);
if use_articulations {
multibody_joints.insert(platform1, platform2, joint2);
} else {
impulse_joints.insert(platform1, platform2, joint2);
}
// 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])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0).build(),
cuboid_body1,
bodies,
);
let cuboid_body2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift + vector![2.0, 16.0, 0.0])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0).build(),
cuboid_body2,
bodies,
);
}
fn create_fixed_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
origin: Point<f32>,
num: usize,
use_articulations: bool,
) {
let rad = 0.4;
let shift = 1.0;
let mut body_handles = Vec::new();
for i in 0..num {
for k 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) {
RigidBodyType::Static
} else {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![
origin.x + fk * shift,
origin.y,
origin.z + fi * shift
])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical joint.
if i > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new().local_anchor2(point![0.0, 0.0, -shift]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
}
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - 1;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
}
}
}
fn create_spherical_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
num: usize,
use_articulations: bool,
) {
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) {
RigidBodyType::Static
} else {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
} else {
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 = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
}
}
}
fn create_spherical_joints_with_limits(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
origin: Point<f32>,
use_articulations: bool,
) {
let shift = vector![0.0, 0.0, 3.0];
let ground = bodies.insert(
RigidBodyBuilder::new_static()
.translation(origin.coords)
.build(),
);
let ball1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift)
.linvel(vector![20.0, 20.0, 0.0])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(),
ball1,
bodies,
);
let ball2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift * 2.0)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(),
ball2,
bodies,
);
let joint1 = SphericalJoint::new()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.2, 0.2])
.limit_axis(JointAxis::Y, [-0.2, 0.2]);
let joint2 = SphericalJoint::new()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.3, 0.3])
.limit_axis(JointAxis::Y, [-0.3, 0.3]);
if use_articulations {
multibody_joints.insert(ground, ball1, joint1);
multibody_joints.insert(ball1, ball2, joint2);
} else {
impulse_joints.insert(ground, ball1, joint1);
impulse_joints.insert(ball1, ball2, joint2);
}
}
fn create_actuated_revolute_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
origin: Point<f32>,
num: usize,
use_articulations: bool,
) {
let rad = 0.4;
let shift = 2.0;
// We will reuse this base configuration for all the impulse_joints here.
let z = Vector::z_axis();
let joint_template = RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]);
let mut parent_handle = RigidBodyHandle::invalid();
for i in 0..num {
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 {
RigidBodyType::Static
} else {
RigidBodyType::Dynamic
};
let shifty = (i >= 1) as u32 as f32 * -2.0;
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build();
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {
let mut joint = joint_template.clone();
if i % 3 == 1 {
joint = joint.motor_velocity(-20.0, 0.1);
} else if i == num - 1 {
let stiffness = 0.2;
let damping = 1.0;
joint = joint.motor_position(3.14 / 2.0, stiffness, damping);
}
if i == 1 {
joint = joint
.local_anchor2(point![0.0, 2.0, -shift])
.motor_velocity(-2.0, 0.1);
}
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
}
}
parent_handle = child_handle;
}
}
fn create_actuated_spherical_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
origin: Point<f32>,
num: usize,
use_articulations: bool,
) {
let rad = 0.4;
let shift = 2.0;
// We will reuse this base configuration for all the impulse_joints here.
let joint_template = SphericalJoint::new().local_anchor1(point![0.0, 0.0, shift]);
let mut parent_handle = RigidBodyHandle::invalid();
for i in 0..num {
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 {
RigidBodyType::Static
} else {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![origin.x, origin.y, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build();
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {
let mut joint = joint_template.clone();
if i == 1 {
joint = joint
.motor_velocity(JointAxis::AngX, 0.0, 0.1)
.motor_velocity(JointAxis::AngY, 0.5, 0.1)
.motor_velocity(JointAxis::AngZ, -2.0, 0.1);
} else if i == num - 1 {
let stiffness = 0.2;
let damping = 1.0;
joint = joint
.motor_position(JointAxis::AngX, 0.0, stiffness, damping)
.motor_position(JointAxis::AngY, 1.0, stiffness, damping)
.motor_position(JointAxis::AngZ, 3.14 / 2.0, stiffness, damping);
}
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
}
}
parent_handle = child_handle;
}
}
fn do_init_world(testbed: &mut Testbed, use_articulations: bool) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
create_prismatic_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 5.0, 0.0],
4,
use_articulations,
);
create_actuated_prismatic_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![25.0, 5.0, 0.0],
4,
use_articulations,
);
create_revolute_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 0.0, 0.0],
3,
use_articulations,
);
create_revolute_joints_with_limits(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![34.0, 0.0, 0.0],
use_articulations,
);
create_fixed_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![0.0, 10.0, 0.0],
10,
use_articulations,
);
create_actuated_revolute_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 10.0, 0.0],
6,
use_articulations,
);
create_actuated_spherical_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![13.0, 10.0, 0.0],
3,
use_articulations,
);
create_spherical_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
15,
use_articulations,
);
create_spherical_joints_with_limits(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![-5.0, 0.0, 0.0],
use_articulations,
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
}
pub fn init_world_with_joints(testbed: &mut Testbed) {
do_init_world(testbed, false)
}
pub fn init_world_with_articulations(testbed: &mut Testbed) {
do_init_world(testbed, true)
}

5
examples3d/ccd3.rs
View File

@@ -44,7 +44,8 @@ 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
@@ -153,6 +154,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

5
examples3d/collision_groups3.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
@@ -93,6 +94,6 @@ 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!(10.0, 10.0, 10.0), Point::origin());
}

5
examples3d/compound3.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
@@ -90,6 +91,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

6
examples3d/convex_decomposition3.rs
View File

@@ -15,7 +15,8 @@ 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
@@ -52,7 +53,6 @@ pub fn init_world(testbed: &mut Testbed) {
.iter()
.map(|v| point![v.0, v.1, v.2])
.collect();
use std::iter::FromIterator;
let indices: Vec<_> = model
.polygons
.into_iter()
@@ -104,7 +104,7 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

5
examples3d/convex_polyhedron3.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
@@ -68,6 +69,6 @@ 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![30.0, 30.0, 30.0], Point::origin());
}

12
examples3d/damping3.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();
/*
* Create the cubes
@@ -38,6 +39,13 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
testbed.set_world_with_params(
bodies,
colliders,
impulse_joints,
multibody_joints,
Vector::zeros(),
(),
);
testbed.look_at(point![2.0, 2.5, 20.0], point![2.0, 2.5, 0.0]);
}

6
examples3d/debug_add_remove_collider3.rs
View File

@@ -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.
*/
@@ -54,6 +56,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}

98
examples3d/debug_articulations3.rs Normal file
View File

@@ -0,0 +1,98 @@
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_ball_articulations(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
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) {
RigidBodyType::Static
} else {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical multibody_joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
multibody_joints.insert(parent_handle, child_handle, joint);
}
// Horizontal multibody_joint.
if k > 0 && i > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
// let joint =
// PrismaticJoint::new(Vector::y_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
// 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);
}
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 impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let rigid_body = RigidBodyBuilder::new_dynamic().build();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) // Vector::y_axis())
.translation(vector![0.0, -3.0, 0.0])
.rotation(vector![0.1, 0.0, 0.1])
.build();
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static().build();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) // Vector::y_axis())
.translation(vector![0.0, -3.02, 0.0])
.rotation(vector![0.1, 0.0, 0.1])
.build();
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider, handle, &mut bodies);
create_ball_articulations(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
15,
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
}

5
examples3d/debug_big_colliders3.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
@@ -38,6 +39,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}

9
examples3d/debug_boxes3.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
@@ -25,10 +26,10 @@ pub fn init_world(testbed: &mut Testbed) {
}
// Build the dynamic box rigid body.
for _ in 0..6 {
for _ in 0..2 {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![1.1, 0.0, 0.0])
.rotation(vector![0.8, 0.2, 0.1])
// .rotation(vector![0.8, 0.2, 0.1])
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
@@ -39,6 +40,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}

5
examples3d/debug_cylinder3.rs
View File

@@ -10,7 +10,8 @@ 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
@@ -55,6 +56,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

6
examples3d/debug_dynamic_collider_add3.rs
View File

@@ -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.
*/
@@ -114,6 +116,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}

5
examples3d/debug_friction3.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
@@ -38,6 +39,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

5
examples3d/debug_infinite_fall3.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
@@ -44,5 +45,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.look_at(point![100.0, -10.0, 100.0], Point::origin());
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
}

24
examples3d/debug_prismatic3.rs
View File

@@ -4,7 +4,7 @@ use rapier_testbed3d::Testbed;
fn prismatic_repro(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
box_center: Point<f32>,
) {
let box_rb = bodies.insert(
@@ -39,19 +39,12 @@ fn prismatic_repro(
);
colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
let mut prismatic = rapier3d::dynamics::PrismaticJoint::new(
point![pos.x, pos.y, pos.z],
Vector::y_axis(),
Vector::zeros(),
Point::origin(),
Vector::y_axis(),
Vector::default(),
);
prismatic.configure_motor_model(rapier3d::dynamics::SpringModel::VelocityBased);
let (stiffness, damping) = (0.05, 0.2);
prismatic.configure_motor_position(0.0, stiffness, damping);
joints.insert(box_rb, wheel_rb, prismatic);
let prismatic = PrismaticJoint::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);
}
// put a small box under one of the wheels
@@ -73,7 +66,8 @@ 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();
/*
* Ground
@@ -91,13 +85,13 @@ pub fn init_world(testbed: &mut Testbed) {
prismatic_repro(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![0.0, 5.0, 0.0],
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
}

6
examples3d/debug_rollback3.rs
View File

@@ -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.
*/
@@ -65,6 +67,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}

6
examples3d/debug_shape_modification3.rs
View File

@@ -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.
*/
@@ -113,6 +115,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}

5
examples3d/debug_triangle3.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();
// Triangle ground.
let vtx = [
@@ -36,6 +37,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}

5
examples3d/debug_trimesh3.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();
// Triangle ground.
let width = 0.5;
@@ -57,6 +58,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}

5
examples3d/domino3.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
@@ -73,6 +74,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

11
examples3d/fountain3.rs
View File

@@ -6,7 +6,9 @@ const MAX_NUMBER_OF_BODIES: usize = 400;
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();
let rad = 0.5;
/*
@@ -63,7 +65,8 @@ pub fn init_world(testbed: &mut Testbed) {
*handle,
&mut physics.islands,
&mut physics.colliders,
&mut physics.joints,
&mut physics.impulse_joints,
&mut physics.multibody_joints,
);
if let Some(graphics) = &mut graphics {
@@ -76,10 +79,10 @@ 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
// .physics_state_mut()
// .integration_parameters
// .velocity_based_erp = 0.2;
// .erp = 0.2;
testbed.look_at(point![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
}

5
examples3d/harness_capsules3.rs
View File

@@ -7,7 +7,8 @@ pub fn init_world(harness: &mut Harness) {
*/
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
@@ -59,7 +60,7 @@ pub fn init_world(harness: &mut Harness) {
/*
* Set up the harness.
*/
harness.set_world(bodies, colliders, joints);
harness.set_world(bodies, colliders, impulse_joints, multibody_joints);
}
fn main() {

5
examples3d/heightfield3.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
@@ -95,6 +96,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

242
examples3d/joints3.rs
View File

@@ -4,7 +4,7 @@ use rapier_testbed3d::Testbed;
fn create_prismatic_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
num: usize,
) {
@@ -28,25 +28,17 @@ fn create_prismatic_joints(
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
UnitVector::new_normalize(vector![1.0f32, 1.0, 0.0])
} else {
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
UnitVector::new_normalize(vector![-1.0f32, 1.0, 0.0])
};
let z = Vector::z();
let mut prism = PrismaticJoint::new(
point![0.0, 0.0, 0.0],
axis,
z,
point![0.0, 0.0, -shift],
axis,
z,
);
prism.limits_enabled = true;
prism.limits[0] = -2.0;
prism.limits[1] = 2.0;
let mut prism = JointData::prismatic(axis)
.local_anchor1(point![0.0, 0.0, shift])
.local_anchor2(point![0.0, 0.0, 0.0])
.limit_axis(JointAxis::X, [-2.0, 2.0]);
joints.insert(curr_parent, curr_child, prism);
impulse_joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child;
}
@@ -55,7 +47,7 @@ fn create_prismatic_joints(
fn create_actuated_prismatic_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
num: usize,
) {
@@ -84,36 +76,29 @@ fn create_actuated_prismatic_joints(
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let z = Vector::z();
let mut prism = PrismaticJoint::new(
point![0.0, 0.0, 0.0],
axis,
z,
point![0.0, 0.0, -shift],
axis,
z,
);
let mut prism = JointData::prismatic(axis)
.local_anchor1(point![0.0, 0.0, 0.0])
.local_anchor2(point![0.0, 0.0, -shift]);
if i == 1 {
prism.configure_motor_velocity(1.0, 1.0);
prism.limits_enabled = true;
prism.limits[1] = 5.0;
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
prism.motor_max_impulse = 1.0;
prism = prism
.limit_axis(JointAxis::X, [-Real::MAX, 5.0])
.motor_velocity(JointAxis::X, 1.0, 1.0)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(JointAxis::X, 1.0);
} else if i > 1 {
prism.configure_motor_position(2.0, 0.01, 1.0);
prism = prism.motor_position(JointAxis::X, 2.0, 0.01, 1.0);
} else {
prism.configure_motor_velocity(1.0, 1.0);
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
prism.motor_max_impulse = 0.7;
prism.limits_enabled = true;
prism.limits[0] = -2.0;
prism.limits[1] = 5.0;
prism = prism
.motor_velocity(JointAxis::X, 1.0, 1.0)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(JointAxis::X, 0.7)
.limit_axis(JointAxis::X, [-2.0, 5.0]);
}
joints.insert(curr_parent, curr_child, prism);
impulse_joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child;
}
@@ -122,7 +107,7 @@ fn create_actuated_prismatic_joints(
fn create_revolute_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
num: usize,
) {
@@ -156,22 +141,20 @@ fn create_revolute_joints(
colliders.insert_with_parent(collider, handles[k], bodies);
}
// Setup four joints.
let o = Point::origin();
// Setup four impulse_joints.
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
RevoluteJoint::new(x).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(z).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJoint::new(x).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(z).local_anchor2(point![shift, 0.0, 0.0]),
];
joints.insert(curr_parent, handles[0], revs[0]);
joints.insert(handles[0], handles[1], revs[1]);
joints.insert(handles[1], handles[2], revs[2]);
joints.insert(handles[2], handles[3], revs[3]);
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]);
curr_parent = handles[3];
}
@@ -180,7 +163,7 @@ fn create_revolute_joints(
fn create_revolute_joints_with_limits(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
) {
let ground = bodies.insert(
@@ -212,25 +195,14 @@ fn create_revolute_joints_with_limits(
bodies,
);
let mut joint1 = RevoluteJoint::new(
Point::origin(),
Vector::z_axis(),
Point::origin(),
Vector::z_axis(),
);
joint1.limits_enabled = true;
joint1.limits = [-0.2, 0.2];
joints.insert(ground, platform1, joint1);
let z = Vector::z_axis();
let mut joint1 = RevoluteJoint::new(z).limit_axis(JointAxis::X, [-0.2, 0.2]);
impulse_joints.insert(ground, platform1, joint1);
let mut joint2 = RevoluteJoint::new(
Point::origin(),
Vector::z_axis(),
Point::from(-shift),
Vector::z_axis(),
);
joint2.limits_enabled = true;
joint2.limits = [-0.3, 0.3];
joints.insert(platform1, platform2, joint2);
let mut joint2 = RevoluteJoint::new(z)
.local_anchor2(shift.into())
.limit_axis(JointAxis::Z, [-0.2, 0.2]);
impulse_joints.insert(platform1, platform2, joint2);
// Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
let cuboid_body1 = bodies.insert(
@@ -259,7 +231,7 @@ fn create_revolute_joints_with_limits(
fn create_fixed_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
num: usize,
) {
@@ -268,8 +240,8 @@ fn create_fixed_joints(
let mut body_handles = Vec::new();
for k in 0..num {
for i in 0..num {
for i in 0..num {
for k in 0..num {
let fk = k as f32;
let fi = i as f32;
@@ -295,23 +267,18 @@ fn create_fixed_joints(
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry::identity(),
Isometry::translation(0.0, 0.0, -shift),
);
joints.insert(parent_handle, child_handle, joint);
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = JointData::fixed().local_anchor2(point![0.0, 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_index = body_handles.len() - 1;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new(
Isometry::identity(),
Isometry::translation(-shift, 0.0, 0.0),
);
joints.insert(parent_handle, child_handle, joint);
let joint = JointData::fixed().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
@@ -322,7 +289,7 @@ fn create_fixed_joints(
fn create_ball_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
num: usize,
) {
let rad = 0.4;
@@ -351,16 +318,16 @@ fn create_ball_joints(
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]);
joints.insert(parent_handle, child_handle, joint);
let joint = JointData::ball().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
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 = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
joints.insert(parent_handle, child_handle, joint);
let joint = JointData::ball().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
@@ -371,7 +338,7 @@ fn create_ball_joints(
fn create_ball_joints_with_limits(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
) {
let shift = vector![0.0, 0.0, 3.0];
@@ -405,38 +372,32 @@ fn create_ball_joints_with_limits(
bodies,
);
let mut joint1 = BallJoint::new(Point::origin(), Point::from(-shift));
joint1.limits_enabled = true;
joint1.limits_local_axis1 = Vector::z_axis();
joint1.limits_local_axis2 = Vector::z_axis();
joint1.limits_angle = 0.2;
joints.insert(ground, ball1, joint1);
let mut joint1 = JointData::ball()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.2, 0.2])
.limit_axis(JointAxis::Y, [-0.2, 0.2]);
impulse_joints.insert(ground, ball1, joint1);
let mut joint2 = BallJoint::new(Point::origin(), Point::from(-shift));
joint2.limits_enabled = true;
joint2.limits_local_axis1 = Vector::z_axis();
joint2.limits_local_axis2 = Vector::z_axis();
joint2.limits_angle = 0.3;
joints.insert(ball1, ball2, joint2);
let mut joint2 = JointData::ball()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.3, 0.3])
.limit_axis(JointAxis::Y, [-0.3, 0.3]);
impulse_joints.insert(ball1, ball2, joint2);
}
fn create_actuated_revolute_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
num: usize,
) {
let rad = 0.4;
let shift = 2.0;
// We will reuse this base configuration for all the joints here.
let joint_template = RevoluteJoint::new(
Point::origin(),
Vector::z_axis(),
point![0.0, 0.0, -shift],
Vector::z_axis(),
);
// We will reuse this base configuration for all the impulse_joints here.
let z = Vector::z_axis();
let joint_template = RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]);
let mut parent_handle = RigidBodyHandle::invalid();
@@ -467,19 +428,19 @@ fn create_actuated_revolute_joints(
let mut joint = joint_template.clone();
if i % 3 == 1 {
joint.configure_motor_velocity(-20.0, 0.1);
joint = joint.motor_velocity(JointAxis::AngX, -20.0, 0.1);
} else if i == num - 1 {
let stiffness = 0.2;
let damping = 1.0;
joint.configure_motor_position(3.14 / 2.0, stiffness, damping);
joint = joint.motor_position(JointAxis::AngX, 3.14 / 2.0, stiffness, damping);
}
if i == 1 {
joint.local_anchor2.y = 2.0;
joint.configure_motor_velocity(-2.0, 0.1);
joint.local_frame2.translation.vector.y = 2.0;
joint = joint.motor_velocity(JointAxis::AngX, -2.0, 0.1);
}
joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint);
}
parent_handle = child_handle;
@@ -489,15 +450,15 @@ fn create_actuated_revolute_joints(
fn create_actuated_ball_joints(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
num: usize,
) {
let rad = 0.4;
let shift = 2.0;
// We will reuse this base configuration for all the joints here.
let joint_template = BallJoint::new(point![0.0, 0.0, shift], Point::origin());
// We will reuse this base configuration for all the impulse_joints here.
let joint_template = JointData::ball().local_anchor1(point![0.0, 0.0, shift]);
let mut parent_handle = RigidBodyHandle::invalid();
@@ -526,18 +487,20 @@ fn create_actuated_ball_joints(
let mut joint = joint_template.clone();
if i == 1 {
joint.configure_motor_velocity(vector![0.0, 0.5, -2.0], 0.1);
joint = joint
.motor_velocity(JointAxis::AngX, 0.0, 0.1)
.motor_velocity(JointAxis::AngY, 0.5, 0.1)
.motor_velocity(JointAxis::AngZ, -2.0, 0.1);
} else if i == num - 1 {
let stiffness = 0.2;
let damping = 1.0;
joint.configure_motor_position(
Rotation::new(vector![0.0, 1.0, 3.14 / 2.0]),
stiffness,
damping,
);
joint = joint
.motor_position(JointAxis::AngX, 0.0, stiffness, damping)
.motor_position(JointAxis::AngY, 1.0, stiffness, damping)
.motor_position(JointAxis::AngZ, 3.14 / 2.0, stiffness, damping);
}
joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint);
}
parent_handle = child_handle;
@@ -550,67 +513,68 @@ 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_prismatic_joints(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![20.0, 5.0, 0.0],
4,
);
create_actuated_prismatic_joints(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![25.0, 5.0, 0.0],
4,
);
create_revolute_joints(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![20.0, 0.0, 0.0],
3,
);
create_revolute_joints_with_limits(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![34.0, 0.0, 0.0],
);
create_fixed_joints(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![0.0, 10.0, 0.0],
10,
);
create_actuated_revolute_joints(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![20.0, 10.0, 0.0],
6,
);
create_actuated_ball_joints(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![13.0, 10.0, 0.0],
3,
);
create_ball_joints(&mut bodies, &mut colliders, &mut joints, 15);
create_ball_joints(&mut bodies, &mut colliders, &mut impulse_joints, 15);
create_ball_joints_with_limits(
&mut bodies,
&mut colliders,
&mut joints,
&mut impulse_joints,
point![-5.0, 0.0, 0.0],
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
}

5
examples3d/keva3.rs
View File

@@ -83,7 +83,8 @@ 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
@@ -132,6 +133,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

5
examples3d/locked_rotations3.rs
View File

@@ -10,7 +10,8 @@ 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();
/*
* The ground
@@ -54,6 +55,6 @@ 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![10.0, 3.0, 0.0], point![0.0, 3.0, 0.0]);
}

6
examples3d/one_way_platforms3.rs
View File

@@ -62,7 +62,8 @@ 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
@@ -126,7 +127,8 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.set_world_with_params(
bodies,
colliders,
joints,
impulse_joints,
multibody_joints,
vector![0.0, -9.81, 0.0],
physics_hooks,
);

5
examples3d/platform3.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.
@@ -103,6 +104,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Run the simulation.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![-10.0, 5.0, -10.0], Point::origin());
}

19
examples3d/primitives3.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
@@ -51,13 +52,13 @@ pub fn init_world(testbed: &mut Testbed) {
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
3 => ColliderBuilder::cone(rad, rad).build(),
_ => ColliderBuilder::capsule_y(rad, rad).build(),
_ => ColliderBuilder::cuboid(rad, rad, rad).build(),
// 1 => ColliderBuilder::ball(rad).build(),
// // Rounded cylinders are much more efficient that cylinder, even if the
// // rounding margin is small.
// 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
// 3 => ColliderBuilder::cone(rad, rad).build(),
// _ => ColliderBuilder::capsule_y(rad, rad).build(),
};
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -70,6 +71,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}

BIN
examples3d/rapier.data Normal file
View File

Binary file not shown.

5
examples3d/restitution3.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
@@ -44,6 +45,6 @@ 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, 3.0, 30.0], point![0.0, 3.0, 0.0]);
}

5
examples3d/sensor3.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.
@@ -102,6 +103,6 @@ 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![-6.0, 4.0, -6.0], point![0.0, 1.0, 0.0]);
}

5
examples3d/trimesh3.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
@@ -100,6 +101,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}