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

Joint API and joint motors improvements

Browse Source
This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
examples3d/debug_dynamic_collider_add3.rs
View File

@@ -16,14 +16,12 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().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)
// .restitution(0.5)
.build();
;
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
@@ -32,10 +30,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0])
.build();
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector::zeros();
@@ -49,9 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
step += 1;
// Add a bigger ball collider
let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32))
.density(100.0)
.build();
let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)).density(100.0);
let new_ball_collider_handle =
physics
.colliders
@@ -99,8 +94,7 @@ pub fn init_world(testbed: &mut Testbed) {
// .remove(ground_collider_handle, &mut physics.bodies, true)
// .unwrap();
let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
.friction(0.15)
.build();
.friction(0.15);
let new_ground_collider_handle =
physics
.colliders