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feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy + release v0.32.0 (#909)

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* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy

* chore: update changelog

* Fix warnings and tests

* Release v0.32.0
This commit is contained in:
Sébastien Crozet
2026-01-09 17:26:36 +01:00
committed by GitHub
parent 48de83817e
commit 0b7c3b34ec
265 changed files with 8501 additions and 8575 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
crates/rapier3d-urdf/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d-urdf"
version = "0.12.0"
version = "0.13.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "URDF file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
bitflags = "2"
urdf-rs = "0.9"
rapier3d = { version = "0.31.0", path = "../rapier3d" }
rapier3d-meshloader = { version = "0.12.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
rapier3d = { version = "0.32.0", path = "../rapier3d" }
rapier3d-meshloader = { version = "0.13.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

72
crates/rapier3d-urdf/src/lib.rs
View File

@@ -35,12 +35,13 @@ use rapier3d::{
RigidBodyBuilder, RigidBodyHandle, RigidBodySet, RigidBodyType,
},
geometry::{Collider, ColliderBuilder, ColliderHandle, ColliderSet, SharedShape, TriMeshFlags},
math::{Isometry, Point, Real, Vector},
glamx::EulerRot,
math::{Pose, Real, Rotation, Vector},
na,
};
use std::collections::HashMap;
use std::path::Path;
use urdf_rs::{Geometry, Inertial, Joint, Pose, Robot};
use urdf_rs::{Geometry, Inertial, Joint, Pose as UrdfPose, Robot};
#[cfg(doc)]
use rapier3d::dynamics::Multibody;
@@ -104,8 +105,8 @@ pub struct UrdfLoaderOptions {
/// Note that the default enables all the flags. This is operating under the assumption that the provided
/// mesh are generally well-formed and properly oriented (2-manifolds with outward normals).
pub trimesh_flags: TriMeshFlags,
/// The transform appended to every created rigid-bodies (default: [`Isometry::identity`]).
pub shift: Isometry<Real>,
/// The transform appended to every created rigid-bodies (default: `Pose::IDENTITY`).
pub shift: Pose,
/// A description of the collider properties that need to be applied to every collider created
/// by the loader (default: `ColliderBuilder::default().density(0.0)`).
///
@@ -136,7 +137,7 @@ impl Default for UrdfLoaderOptions {
enable_joint_collisions: false,
make_roots_fixed: false,
trimesh_flags: TriMeshFlags::all(),
shift: Isometry::identity(),
shift: Pose::IDENTITY,
collider_blueprint: ColliderBuilder::default().density(0.0),
rigid_body_blueprint: RigidBodyBuilder::dynamic(),
}
@@ -295,7 +296,8 @@ impl UrdfRobot {
}))
}
let mut body = urdf_to_rigid_body(&options, &link.inertial);
body.set_position(options.shift * body.position(), false);
let new_pos = options.shift * body.position();
body.set_position(new_pos, false);
UrdfLink { body, colliders }
})
.collect();
@@ -429,30 +431,30 @@ impl UrdfRobot {
}
/// Appends a transform to all the rigid-bodie of this robot.
pub fn append_transform(&mut self, transform: &Isometry<Real>) {
pub fn append_transform(&mut self, transform: &Pose) {
for link in &mut self.links {
link.body
.set_position(transform * link.body.position(), true);
let new_pos = transform * link.body.position();
link.body.set_position(new_pos, true);
}
}
}
#[rustfmt::skip]
fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> RigidBody {
let origin = urdf_to_isometry(&inertial.origin);
let origin = urdf_to_pose(&inertial.origin);
let mut builder = options.rigid_body_blueprint.clone();
builder.body_type = RigidBodyType::Dynamic;
if options.apply_imported_mass_props {
builder = builder.additional_mass_properties(MassProperties::with_inertia_matrix(
origin.translation.vector.into(),
origin.translation,
inertial.mass.value as Real,
// See http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model#Inertia
na::Matrix3::new(
inertial.inertia.ixx as Real, inertial.inertia.ixy as Real, inertial.inertia.ixz as Real,
inertial.inertia.ixy as Real, inertial.inertia.iyy as Real, inertial.inertia.iyz as Real,
inertial.inertia.ixz as Real, inertial.inertia.iyz as Real,inertial.inertia.izz as Real,
),
).into(),
))
}
@@ -463,9 +465,9 @@ fn urdf_to_colliders(
options: &UrdfLoaderOptions,
_mesh_dir: &Path, // Unused if none of the meshloader features is enabled.
geometry: &Geometry,
origin: &Pose,
origin: &UrdfPose,
) -> Vec<Collider> {
let mut shape_transform = Isometry::identity();
let mut shape_transform = Pose::IDENTITY;
let mut colliders = Vec::new();
@@ -480,7 +482,7 @@ fn urdf_to_colliders(
Geometry::Cylinder { radius, length } => {
// This rotation will make the cylinder Z-up as per the URDF spec,
// instead of rapier’s default Y-up.
shape_transform = Isometry::rotation(Vector::x() * Real::frac_pi_2());
shape_transform = Pose::rotation(Vector::X * Real::frac_pi_2());
colliders.push(SharedShape::cylinder(
*length as Real / 2.0,
*radius as Real,
@@ -506,7 +508,7 @@ fn urdf_to_colliders(
let full_path = _mesh_dir.join(filename);
let scale = scale
.map(|s| Vector::new(s[0] as Real, s[1] as Real, s[2] as Real))
.unwrap_or_else(|| Vector::<Real>::repeat(1.0));
.unwrap_or_else(|| Vector::splat(1.0));
let Ok(loaded_mesh) = rapier3d_meshloader::load_from_path(
full_path,
@@ -530,21 +532,21 @@ fn urdf_to_colliders(
let mut builder = options.collider_blueprint.clone();
builder.shape = shape;
builder
.position(urdf_to_isometry(origin) * shape_transform)
.position(urdf_to_pose(origin) * shape_transform)
.build()
})
.collect()
}
fn urdf_to_isometry(pose: &Pose) -> Isometry<Real> {
Isometry::from_parts(
Point::new(
fn urdf_to_pose(pose: &UrdfPose) -> Pose {
Pose::from_parts(
Vector::new(
pose.xyz[0] as Real,
pose.xyz[1] as Real,
pose.xyz[2] as Real,
)
.into(),
na::UnitQuaternion::from_euler_angles(
),
Rotation::from_euler(
EulerRot::XYZ,
pose.rpy[0] as Real,
pose.rpy[1] as Real,
pose.rpy[2] as Real,
@@ -555,7 +557,7 @@ fn urdf_to_isometry(pose: &Pose) -> Isometry<Real> {
fn urdf_to_joint(
options: &UrdfLoaderOptions,
joint: &Joint,
pose1: &Isometry<Real>,
pose1: &Pose,
link2: &mut RigidBody,
) -> GenericJoint {
let locked_axes = match joint.joint_type {
@@ -568,25 +570,23 @@ fn urdf_to_joint(
urdf_rs::JointType::Prismatic => JointAxesMask::LOCKED_PRISMATIC_AXES,
urdf_rs::JointType::Spherical => JointAxesMask::LOCKED_SPHERICAL_AXES,
};
let joint_to_parent = urdf_to_isometry(&joint.origin);
let joint_axis = na::Unit::try_new(
Vector::new(
joint.axis.xyz[0] as Real,
joint.axis.xyz[1] as Real,
joint.axis.xyz[2] as Real,
),
1.0e-5,
);
let joint_to_parent = urdf_to_pose(&joint.origin);
let joint_axis = Vector::new(
joint.axis.xyz[0] as Real,
joint.axis.xyz[1] as Real,
joint.axis.xyz[2] as Real,
)
.normalize_or_zero();
link2.set_position(pose1 * joint_to_parent, false);
let mut builder = GenericJointBuilder::new(locked_axes)
.local_anchor1(joint_to_parent.translation.vector.into())
.local_anchor1(joint_to_parent.translation)
.contacts_enabled(options.enable_joint_collisions);
if let Some(joint_axis) = joint_axis {
if joint_axis != Vector::ZERO {
builder = builder
.local_axis1(joint_to_parent * joint_axis)
.local_axis1(joint_to_parent.rotation * joint_axis)
.local_axis2(joint_axis);
}