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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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45
src_testbed/harness/mod.rs
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@@ -3,7 +3,10 @@ use crate::{
TestbedGraphics,
};
use plugin::HarnessPlugin;
use rapier::dynamics::{CCDSolver, IntegrationParameters, IslandManager, JointSet, RigidBodySet};
use rapier::dynamics::{
CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
RigidBodySet,
};
use rapier::geometry::{BroadPhase, ColliderSet, NarrowPhase};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -78,9 +81,14 @@ impl Harness {
}
}
pub fn new(bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) -> Self {
pub fn new(
bodies: RigidBodySet,
colliders: ColliderSet,
impulse_joints: ImpulseJointSet,
multibody_joints: MultibodyJointSet,
) -> Self {
let mut res = Self::new_empty();
res.set_world(bodies, colliders, joints);
res.set_world(bodies, colliders, impulse_joints, multibody_joints);
res
}
@@ -100,24 +108,39 @@ impl Harness {
&mut self.physics
}
pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
self.set_world_with_params(bodies, colliders, joints, Vector::y() * -9.81, ())
pub fn set_world(
&mut self,
bodies: RigidBodySet,
colliders: ColliderSet,
impulse_joints: ImpulseJointSet,
multibody_joints: MultibodyJointSet,
) {
self.set_world_with_params(
bodies,
colliders,
impulse_joints,
multibody_joints,
Vector::y() * -9.81,
(),
)
}
pub fn set_world_with_params(
&mut self,
bodies: RigidBodySet,
colliders: ColliderSet,
joints: JointSet,
impulse_joints: ImpulseJointSet,
multibody_joints: MultibodyJointSet,
gravity: Vector<f32>,
hooks: impl PhysicsHooks<RigidBodySet, ColliderSet> + 'static,
) {
// println!("Num bodies: {}", bodies.len());
// println!("Num joints: {}", joints.len());
// println!("Num impulse_joints: {}", impulse_joints.len());
self.physics.gravity = gravity;
self.physics.bodies = bodies;
self.physics.colliders = colliders;
self.physics.joints = joints;
self.physics.impulse_joints = impulse_joints;
self.physics.multibody_joints = multibody_joints;
self.physics.hooks = Box::new(hooks);
self.physics.islands = IslandManager::new();
@@ -162,7 +185,8 @@ impl Harness {
&mut physics.narrow_phase,
&mut physics.bodies,
&mut physics.colliders,
&mut physics.joints,
&mut physics.impulse_joints,
&mut physics.multibody_joints,
&mut physics.ccd_solver,
&*physics.hooks,
event_handler,
@@ -179,7 +203,8 @@ impl Harness {
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
&mut self.physics.impulse_joints,
&mut self.physics.multibody_joints,
&mut self.physics.ccd_solver,
&*self.physics.hooks,
&self.event_handler,