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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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24
benchmarks2d/joint_prismatic2.rs
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@@ -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);
}