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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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32
examples3d/compound3.rs
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@@ -1,6 +1,4 @@
use na::{Isometry3, Point3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -18,11 +16,11 @@ 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
@@ -46,40 +44,42 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift * 2.0 - centerz + offset;
// 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);
// First option: attach several colliders to a single rigid-body.
if j < numy / 2 {
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(rad * 10.0, rad * 10.0, 0.0)
.translation(vector![rad * 10.0, rad * 10.0, 0.0])
.build();
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(-rad * 10.0, rad * 10.0, 0.0)
.translation(vector![-rad * 10.0, rad * 10.0, 0.0])
.build();
colliders.insert(collider1, handle, &mut bodies);
colliders.insert(collider2, handle, &mut bodies);
colliders.insert(collider3, handle, &mut bodies);
colliders.insert_with_parent(collider1, handle, &mut bodies);
colliders.insert_with_parent(collider2, handle, &mut bodies);
colliders.insert_with_parent(collider3, handle, &mut bodies);
} else {
// Second option: create a compound shape and attach it to a single collider.
let shapes = vec![
(
Isometry3::identity(),
Isometry::identity(),
SharedShape::cuboid(rad * 10.0, rad, rad),
),
(
Isometry3::translation(rad * 10.0, rad * 10.0, 0.0),
Isometry::translation(rad * 10.0, rad * 10.0, 0.0),
SharedShape::cuboid(rad, rad * 10.0, rad),
),
(
Isometry3::translation(-rad * 10.0, rad * 10.0, 0.0),
Isometry::translation(-rad * 10.0, rad * 10.0, 0.0),
SharedShape::cuboid(rad, rad * 10.0, rad),
),
];
let collider = ColliderBuilder::compound(shapes).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -91,5 +91,5 @@ 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());
}