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Move benchmark demos into their own directory.

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This commit is contained in:
Sébastien Crozet
2020-09-06 12:16:09 +02:00
parent 3080c6e7d2
commit ff2da7fb27
44 changed files with 897 additions and 148 deletions
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2
examples3d/add_remove3.rs
View File

@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
.translation(0.0, 10.0, 0.0)
.build();
let handle = physics.bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
physics
.colliders
.insert(collider, handle, &mut physics.bodies);

32
examples3d/all_examples3.rs
View File

@@ -11,24 +11,17 @@ use rapier_testbed3d::Testbed;
use std::cmp::Ordering;
mod add_remove3;
mod balls3;
mod boxes3;
mod capsules3;
mod compound3;
mod debug_boxes3;
mod debug_triangle3;
mod domino3;
mod heightfield3;
mod joints3;
mod kinematic3;
mod pyramid3;
mod keva3;
mod platform3;
mod primitives3;
mod sensor3;
mod stacks3;
mod stress_joint_ball3;
mod stress_joint_fixed3;
mod stress_joint_prismatic3;
mod stress_joint_revolute3;
mod stress_keva3;
mod trimesh3;
fn demo_name_from_command_line() -> Option<String> {
@@ -69,31 +62,18 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Add remove", add_remove3::init_world),
("Balls", balls3::init_world),
("Boxes", boxes3::init_world),
("Capsules", capsules3::init_world),
("Primitives", primitives3::init_world),
("Compound", compound3::init_world),
("Domino", domino3::init_world),
("Heightfield", heightfield3::init_world),
("Joints", joints3::init_world),
("Kinematic", kinematic3::init_world),
("Platform", platform3::init_world),
("Stacks", stacks3::init_world),
("Pyramid", pyramid3::init_world),
("Sensor", sensor3::init_world),
("Trimesh", trimesh3::init_world),
("Keva tower", keva3::init_world),
("(Debug) boxes", debug_boxes3::init_world),
("(Debug) triangle", debug_triangle3::init_world),
("(Stress test) joint ball", stress_joint_ball3::init_world),
("(Stress test) joint fixed", stress_joint_fixed3::init_world),
(
"(Stress test) joint revolute",
stress_joint_revolute3::init_world,
),
(
"(Stress test) joint prismatic",
stress_joint_prismatic3::init_world,
),
("(Stress test) keva tower", stress_keva3::init_world),
];
// Lexicographic sort, with stress tests moved at the end of the list.

29
examples3d/balls3.rs
View File

@@ -1,29 +0,0 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
let rb = RigidBodyBuilder::new_dynamic().build();
let co = ColliderBuilder::cuboid(0.5, 0.5, 0.5).build();
let h = bodies.insert(rb);
colliders.insert(co, h, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
testbed.run()
}

69
examples3d/capsules3.rs
View File

@@ -1,69 +0,0 @@
use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let num = 8;
let rad = 1.0;
let shift = rad * 2.0 + rad;
let shifty = rad * 4.0;
let centerx = shift * (num / 2) as f32;
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..47 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx + offset;
let y = j as f32 * shifty + centery + 3.0;
let z = k as f32 * shift - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad, rad).density(1.0).build();
colliders.insert(collider, handle, &mut bodies);
}
}
offset -= 0.05 * rad * (num as f32 - 1.0);
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}

4
examples3d/compound3.rs
View File

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = 200.1;
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..25 {
for j in 0usize..15 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift * 5.0 - centerx + offset;

2
examples3d/debug_boxes3.rs
View File

@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).density(1.0).build();
let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build();
colliders.insert(collider, handle, &mut bodies);
/*

2
examples3d/debug_triangle3.rs
View File

@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).density(1.0).build();
let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).build();
colliders.insert(collider, handle, &mut bodies);
/*

4
examples3d/domino3.rs
View File

@@ -58,9 +58,7 @@ pub fn init_world(testbed: &mut Testbed) {
* rot;
let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width)
.density(1.0)
.build();
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build();
colliders.insert(collider, handle, &mut bodies);
testbed.set_body_color(handle, colors[i % 2]);
} else {

8
examples3d/heightfield3.rs
View File

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector3::new(200.0, 1.0, 200.0);
let ground_size = Vector3::new(100.0, 1.0, 100.0);
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
@@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
for j in 0usize..47 {
for j in 0usize..20 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx;
@@ -55,10 +55,10 @@ pub fn init_world(testbed: &mut Testbed) {
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).density(1.0).build();
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}

4
examples3d/joints3.rs
View File

@@ -150,7 +150,7 @@ fn create_fixed_joints(
.translation(origin.x + fk * shift, origin.y, origin.z + fi * shift)
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).density(1.0).build();
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, bodies);
// Vertical joint.
@@ -205,7 +205,7 @@ fn create_ball_joints(
.translation(fk * shift, 0.0, fi * shift)
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).density(1.0).build();
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, bodies);
// Vertical joint.

8
examples3d/stress_keva3.rs → examples3d/keva3.rs
View File

@@ -48,9 +48,7 @@ pub fn build_block(
)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z)
.density(1.0)
.build();
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
testbed.set_body_color(handle, color0);
@@ -73,9 +71,7 @@ pub fn build_block(
)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z)
.density(1.0)
.build();
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
testbed.set_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);

6
examples3d/kinematic3.rs → examples3d/platform3.rs
View File

@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
@@ -58,9 +58,7 @@ pub fn init_world(testbed: &mut Testbed) {
.translation(0.0, 1.5 + 0.8, -10.0 * rad)
.build();
let platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0)
.density(1.0)
.build();
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
colliders.insert(collider, platform_handle, &mut bodies);
/*

13
examples3d/boxes3.rs → examples3d/primitives3.rs
View File

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = 200.1;
let ground_size = 100.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..47 {
for j in 0usize..20 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx + offset;
@@ -47,7 +47,14 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
let collider = match j % 2 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// 2 => ColliderBuilder::capsule_y(rad, rad).build(),
_ => unreachable!(),
};
colliders.insert(collider, handle, &mut bodies);
}
}

85
examples3d/pyramid3.rs
View File

@@ -1,85 +0,0 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
) {
let shift = half_extents * 2.5;
for i in 0usize..stack_height {
for j in i..stack_height {
for k in i..stack_height {
let fi = i as f32;
let fj = j as f32;
let fk = k as f32;
let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x
- stack_height as f32 * half_extents.x;
let y = fi * shift.y + offset.y;
let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body_handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
.density(1.0)
.build();
colliders.insert(collider, rigid_body_handle, bodies);
}
}
}
}
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, ground_handle, &mut bodies);
/*
* Create the cubes
*/
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let bottomy = cube_size;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(0.0, bottomy, 0.0),
24,
hext,
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}

6
examples3d/sensor3.rs
View File

@@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0));
@@ -56,13 +56,13 @@ pub fn init_world(testbed: &mut Testbed) {
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0, 0.0)
.translation(0.0, 5.0, 0.0)
.build();
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which
// other colliders can touch.
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't

36
examples3d/stacks3.rs
View File

@@ -27,9 +27,8 @@ fn create_tower_circle(
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
.density(1.0)
.build();
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
}
}
@@ -55,9 +54,8 @@ fn create_wall(
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
.density(1.0)
.build();
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
}
}
@@ -88,9 +86,7 @@ fn create_pyramid(
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
.density(1.0)
.build();
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
}
}
@@ -124,27 +120,7 @@ pub fn init_world(testbed: &mut Testbed) {
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let bottomy = cube_size * 50.0;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-110.0, bottomy, 0.0),
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-80.0, bottomy, 0.0),
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-50.0, bottomy, 0.0),
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,

70
examples3d/stress_joint_ball3.rs
View File

@@ -1,70 +0,0 @@
use na::Point3;
use rapier3d::dynamics::{BallJoint, BodyStatus, JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let rad = 0.4;
let num = 100;
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) {
BodyStatus::Static
} else {
BodyStatus::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, 0.0, fi * shift)
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).density(1.0).build();
colliders.insert(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
joints.insert(&mut bodies, 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(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(-110.0, -46.0, 170.0),
Point3::new(54.0, -38.0, 29.0),
);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}

92
examples3d/stress_joint_fixed3.rs
View File

@@ -1,92 +0,0 @@
use na::{Isometry3, Point3};
use rapier3d::dynamics::{BodyStatus, FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let rad = 0.4;
let num = 5;
let shift = 1.0;
let mut body_handles = Vec::new();
for m in 0..10 {
let z = m as f32 * shift * (num as f32 + 2.0);
for l in 0..10 {
let y = l as f32 * shift * 3.0;
for j in 0..5 {
let x = j as f32 * shift * (num as f32) * 2.0;
for k in 0..num {
for i 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) {
BodyStatus::Static
} else {
BodyStatus::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(x + fk * shift, y, z + fi * shift)
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).density(1.0).build();
colliders.insert(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry3::identity(),
Isometry3::translation(0.0, 0.0, -shift),
);
joints.insert(&mut bodies, 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(
Isometry3::identity(),
Isometry3::translation(-shift, 0.0, 0.0),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
}
}
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(-38.0, 14.0, 108.0),
Point3::new(46.0, 12.0, 23.0),
);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}

81
examples3d/stress_joint_prismatic3.rs
View File

@@ -1,81 +0,0 @@
use na::{Point3, Unit, Vector3};
use rapier3d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let rad = 0.4;
let num = 5;
let shift = 1.0;
for m in 0..8 {
let z = m as f32 * shift * (num as f32 + 2.0);
for l in 0..8 {
let y = l as f32 * shift * (num as f32) * 2.0;
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(x, y, z).build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
for i in 0..num {
let z = z + (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
colliders.insert(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
} else {
Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
};
let z = Vector3::z();
let mut prism = PrismaticJoint::new(
Point3::origin(),
axis,
z,
Point3::new(0.0, 0.0, -shift),
axis,
z,
);
prism.limits_enabled = true;
prism.limits[0] = -2.0;
prism.limits[1] = 2.0;
joints.insert(&mut bodies, curr_parent, curr_child, prism);
curr_parent = curr_child;
}
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(262.0, 63.0, 124.0),
Point3::new(101.0, 4.0, -3.0),
);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}

89
examples3d/stress_joint_revolute3.rs
View File

@@ -1,89 +0,0 @@
use na::{Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RevoluteJoint, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let rad = 0.4;
let num = 10;
let shift = 2.0;
for l in 0..4 {
let y = l as f32 * shift * (num as f32) * 3.0;
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static()
.translation(x, y, 0.0)
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
for i in 0..num {
// Create four bodies.
let z = i as f32 * shift * 2.0 + shift;
let positions = [
Isometry3::translation(x, y, z),
Isometry3::translation(x + shift, y, z),
Isometry3::translation(x + shift, y, z + shift),
Isometry3::translation(x, y, z + shift),
];
let mut handles = [curr_parent; 4];
for k in 0..4 {
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.position(positions[k])
.build();
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
colliders.insert(collider, handles[k], &mut bodies);
}
// Setup four joints.
let o = Point3::origin();
let x = Vector3::x_axis();
let z = Vector3::z_axis();
let revs = [
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
];
joints.insert(&mut bodies, curr_parent, handles[0], revs[0]);
joints.insert(&mut bodies, handles[0], handles[1], revs[1]);
joints.insert(&mut bodies, handles[1], handles[2], revs[2]);
joints.insert(&mut bodies, handles[2], handles[3], revs[3]);
curr_parent = handles[3];
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(478.0, 83.0, 228.0),
Point3::new(134.0, 83.0, -116.0),
);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}

8
examples3d/trimesh3.rs
View File

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = 200.0f32;
let ground_size = 100.0f32;
let ground_height = 1.0;
let nsubdivs = 20;
@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
for j in 0usize..47 {
for j in 0usize..20 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx;
@@ -65,10 +65,10 @@ pub fn init_world(testbed: &mut Testbed) {
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).density(1.0).build();
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}