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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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18
examples3d/convex_decomposition3.rs
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@@ -1,8 +1,6 @@
use na::Point3;
use obj::raw::object::Polygon;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
use rapier3d::parry::bounding_volume;
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
use std::fs::File;
use std::io::BufReader;
@@ -26,11 +24,11 @@ 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 convex decompositions.
@@ -52,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
let mut vertices: Vec<_> = model
.positions
.iter()
.map(|v| Point3::new(v.0, v.1, v.2))
.map(|v| point![v.0, v.1, v.2])
.collect();
use std::iter::FromIterator;
let indices: Vec<_> = model
@@ -90,12 +88,14 @@ pub fn init_world(testbed: &mut Testbed) {
let y = (igeom / width) as f32 * shift + 4.0;
let z = k as f32 * shift;
let body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let handle = bodies.insert(body);
for shape in &shapes {
let collider = ColliderBuilder::new(shape.clone()).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
@@ -105,7 +105,7 @@ 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());
}
fn models() -> Vec<String> {