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Add compound shape support.

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This commit is contained in:
Crozet Sébastien
2021-01-05 15:34:48 +01:00
parent 6ba5081358
commit 00da4aaa42
10 changed files with 123 additions and 50 deletions
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50
examples3d/compound3.rs
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@@ -1,6 +1,6 @@
use na::Point3;
use na::{Isometry3, Point3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, ColliderShape};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -28,6 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Create the cubes
*/
let num = 8;
let numy = 15;
let rad = 0.2;
let shift = rad * 4.0 + rad;
@@ -37,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..15 {
for j in 0usize..numy {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift * 5.0 - centerx + offset;
@@ -47,16 +48,39 @@ 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 collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(rad * 10.0, rad * 10.0, 0.0)
.build();
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(-rad * 10.0, rad * 10.0, 0.0)
.build();
colliders.insert(collider1, handle, &mut bodies);
colliders.insert(collider2, handle, &mut bodies);
colliders.insert(collider3, handle, &mut bodies);
// First option: attach several colliders to a single rigid-body.
if j < numy / 2 {
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(rad * 10.0, rad * 10.0, 0.0)
.build();
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(-rad * 10.0, rad * 10.0, 0.0)
.build();
colliders.insert(collider1, handle, &mut bodies);
colliders.insert(collider2, handle, &mut bodies);
colliders.insert(collider3, handle, &mut bodies);
} else {
// Second option: create a compound shape and attach it to a single collider.
let shapes = vec![
(
Isometry3::identity(),
ColliderShape::cuboid(rad * 10.0, rad, rad),
),
(
Isometry3::translation(rad * 10.0, rad * 10.0, 0.0),
ColliderShape::cuboid(rad, rad * 10.0, rad),
),
(
Isometry3::translation(-rad * 10.0, rad * 10.0, 0.0),
ColliderShape::cuboid(rad, rad * 10.0, rad),
),
];
let collider = ColliderBuilder::compound(shapes).build();
colliders.insert(collider, handle, &mut bodies);
}
}
}