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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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52
examples2d/ccd2.rs
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@@ -1,6 +1,4 @@
use na::{Isometry2, Point2, Point3};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
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 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);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(-3.0, 0.0)
.translation(vector![-3.0, 0.0])
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(6.0, 0.0)
.translation(vector![6.0, 0.0])
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(2.5, 0.0)
.translation(vector![2.5, 0.0])
.sensor(true)
.build();
let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies);
let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the shapes
@@ -45,9 +43,9 @@ pub fn init_world(testbed: &mut Testbed) {
let radx = 0.4;
let rady = 0.05;
let delta1 = Isometry2::translation(0.0, radx - rady);
let delta2 = Isometry2::translation(-radx + rady, 0.0);
let delta3 = Isometry2::translation(radx - rady, 0.0);
let delta1 = Isometry::translation(0.0, radx - rady);
let delta2 = Isometry::translation(-radx + rady, 0.0);
let delta3 = Isometry::translation(radx - rady, 0.0);
let mut compound_parts = Vec::new();
let vertical = SharedShape::cuboid(rady, radx);
@@ -70,8 +68,8 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(x, y)
.linvel(100.0, -10.0)
.translation(vector![x, y])
.linvel(vector![100.0, -10.0])
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
@@ -80,12 +78,12 @@ pub fn init_world(testbed: &mut Testbed) {
// let collider = ColliderBuilder::new(part.1.clone())
// .position_wrt_parent(part.0)
// .build();
// colliders.insert(collider, handle, &mut bodies);
// colliders.insert_with_parent(collider, handle, &mut bodies);
// }
let collider = ColliderBuilder::new(compound_shape.clone()).build();
// let collider = ColliderBuilder::cuboid(radx, rady).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -93,13 +91,23 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
[1.0, 1.0, 0.0]
} else {
Point3::new(0.5, 0.5, 1.0)
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
let parent_handle1 = physics
.colliders
.get(prox.collider1)
.unwrap()
.parent()
.unwrap();
let parent_handle2 = physics
.colliders
.get(prox.collider2)
.unwrap()
.parent()
.unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
@@ -115,5 +123,5 @@ 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), 20.0);
testbed.look_at(point![0.0, 2.5], 20.0);
}