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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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21
benchmarks3d/joint_fixed3.rs
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@@ -1,6 +1,4 @@
use na::{Isometry3, Point3};
use rapier3d::dynamics::{FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -42,18 +40,18 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(x + fk * shift, y, z + fi * shift)
.translation(vector![x + fk * shift, y, z + 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(
Isometry3::identity(),
Isometry3::translation(0.0, 0.0, -shift),
Isometry::identity(),
Isometry::translation(0.0, 0.0, -shift),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -63,8 +61,8 @@ 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(
Isometry3::identity(),
Isometry3::translation(-shift, 0.0, 0.0),
Isometry::identity(),
Isometry::translation(-shift, 0.0, 0.0),
);
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
@@ -80,8 +78,5 @@ pub fn init_world(testbed: &mut Testbed) {
* 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),
);
testbed.look_at(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
}