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Add prelude + use vectors for setting linvel/translation in builders

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This commit is contained in:
Crozet Sébastien
2021-05-25 11:00:13 +02:00
parent 47139323e0
commit 1bef66fea9
93 changed files with 1528 additions and 1259 deletions
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14
benchmarks2d/balls2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -22,7 +20,7 @@ pub fn init_world(testbed: &mut Testbed) {
let co = ColliderDesc::new(ground_shape)
.translation(-Vector2::y())
.build(BodyPartHandle(ground_handle, 0));
colliders.insert(co);
colliders.insert_with_parent(co);
*/
/*
@@ -48,10 +46,12 @@ pub fn init_world(testbed: &mut Testbed) {
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build();
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 5.0);
testbed.look_at(point![0.0, 2.5], 5.0);
}

22
benchmarks2d/boxes2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 2.0)
.translation(vector![ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 2.0)
.translation(vector![-ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -53,10 +51,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 2.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -64,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

22
benchmarks2d/capsules2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 4.0)
.translation(vector![ground_size, ground_size * 4.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 4.0)
.translation(vector![-ground_size, ground_size * 4.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -55,10 +53,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shifty + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -66,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

24
benchmarks2d/convex_polygons2.rs
View File

@@ -1,8 +1,6 @@
use na::Point2;
use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(ground_size, ground_size * 2.0)
.translation(vector![ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(-ground_size, ground_size * 2.0)
.translation(vector![-ground_size, ground_size * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the convex polygons
@@ -58,18 +56,20 @@ pub fn init_world(testbed: &mut Testbed) {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift * 2.0 + centery + 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point2<f32> = distribution.sample(&mut rng);
let pt: Point<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

19
benchmarks2d/heightfield2.rs
View File

@@ -1,6 +1,5 @@
use na::{DVector, Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use na::DVector;
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = Vector2::new(50.0, 1.0);
let ground_size = Vector::new(50.0, 1.0);
let nsubdivs = 2000;
let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
@@ -28,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
@@ -46,15 +45,17 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -63,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
testbed.look_at(point![0.0, 50.0], 10.0);
}

14
benchmarks2d/joint_ball2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -34,16 +32,16 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, -fi * shift)
.translation(vector![fk * shift, -fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -51,7 +49,7 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -63,5 +61,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 5.0);
}

18
benchmarks2d/joint_fixed2.rs
View File

@@ -1,6 +1,4 @@
use na::{Isometry2, Point2};
use rapier2d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -39,18 +37,18 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(x + fk * shift, y - fi * shift)
.translation(vector![x + fk * shift, y - fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry2::identity(),
Isometry2::translation(0.0, shift),
Isometry::identity(),
Isometry::translation(0.0, shift),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -60,8 +58,8 @@ pub fn init_world(testbed: &mut Testbed) {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new(
Isometry2::identity(),
Isometry2::translation(-shift, 0.0),
Isometry::identity(),
Isometry::translation(-shift, 0.0),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -76,5 +74,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(50.0, 50.0), 5.0);
testbed.look_at(point![50.0, 50.0], 5.0);
}

24
benchmarks2d/joint_prismatic2.rs
View File

@@ -1,6 +1,4 @@
use na::{Point2, Unit, Vector2};
use rapier2d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -25,27 +23,31 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(x, y).build();
let ground = RigidBodyBuilder::new_static()
.translation(vector![x, y])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, curr_parent, &mut bodies);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
for i in 0..num {
let y = y - (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).density(density).build();
colliders.insert(collider, curr_child, &mut bodies);
colliders.insert_with_parent(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector2::new(1.0, 1.0))
UnitVector::new_normalize(vector![1.0, 1.0])
} else {
Unit::new_normalize(Vector2::new(-1.0, 1.0))
UnitVector::new_normalize(vector![-1.0, 1.0])
};
let mut prism =
PrismaticJoint::new(Point2::origin(), axis, Point2::new(0.0, shift), axis);
PrismaticJoint::new(Point::origin(), axis, point![0.0, shift], axis);
prism.limits_enabled = true;
prism.limits[0] = -1.5;
prism.limits[1] = 1.5;
@@ -60,5 +62,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(80.0, 80.0), 15.0);
testbed.look_at(point![80.0, 80.0], 15.0);
}

14
benchmarks2d/pyramid2.rs
View File

@@ -1,6 +1,4 @@
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -20,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_static().build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
@@ -40,10 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
let y = fi * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -51,5 +51,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 2.5), 5.0);
testbed.look_at(point![0.0, 2.5], 5.0);
}