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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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60
benchmarks3d/stacks3.rs
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@@ -1,15 +1,13 @@
use na::{Point3, Translation3, UnitQuaternion, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_tower_circle(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
nsubdivs: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
@@ -20,16 +18,16 @@ fn create_tower_circle(
let fj = j as f32;
let fi = i as f32;
let y = fi * shift.y;
let pos = Translation3::from(offset)
* UnitQuaternion::new(Vector3::y() * (fi / 2.0 + fj) * ang_step)
* Translation3::new(0.0, y, radius);
let pos = Translation::from(offset)
* Rotation::new(Vector::y() * (fi / 2.0 + fj) * ang_step)
* Translation::new(0.0, y, radius);
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -37,9 +35,9 @@ fn create_tower_circle(
fn create_wall(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
@@ -52,11 +50,13 @@ fn create_wall(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -64,9 +64,9 @@ fn create_wall(
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.0;
@@ -83,11 +83,13 @@ fn create_pyramid(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
@@ -108,71 +110,71 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let hext = Vector::repeat(cube_size);
let bottomy = cube_size * 50.0;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-110.0, bottomy, 0.0),
vector![-110.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-80.0, bottomy, 0.0),
vector![-80.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-50.0, bottomy, 0.0),
vector![-50.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-20.0, bottomy, 0.0),
vector![-20.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(-2.0, bottomy, 0.0),
vector![-2.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(4.0, bottomy, 0.0),
vector![4.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(10.0, bottomy, 0.0),
vector![10.0, bottomy, 0.0],
12,
hext,
);
create_tower_circle(
&mut bodies,
&mut colliders,
Vector3::new(25.0, bottomy, 0.0),
vector![25.0, bottomy, 0.0],
8,
24,
hext,
@@ -182,5 +184,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}