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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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31
benchmarks3d/joint_prismatic3.rs
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@@ -1,6 +1,4 @@
use na::{Point3, Unit, Vector3};
use rapier3d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -24,33 +22,37 @@ 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, z).build();
let ground = RigidBodyBuilder::new_static()
.translation(vector![x, y, z])
.build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, 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 z = z + (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, 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(Vector3::new(1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
} else {
Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let z = Vector3::z();
let z = Vector::z();
let mut prism = PrismaticJoint::new(
Point3::origin(),
Point::origin(),
axis,
z,
Point3::new(0.0, 0.0, -shift),
point![0.0, 0.0, -shift],
axis,
z,
);
@@ -69,8 +71,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(262.0, 63.0, 124.0),
Point3::new(101.0, 4.0, -3.0),
);
testbed.look_at(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
}