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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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28
examples3d/debug_dynamic_collider_add3.rs
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@@ -1,6 +1,4 @@
use na::{Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -17,30 +15,30 @@ 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 ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
// .restitution(0.5)
.build();
colliders.insert(collider, ground_handle, &mut bodies);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(0.0, 0.2, 0.0)
.linvel(10.0, 0.0, 0.0)
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0])
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
colliders.insert(collider, ball_handle, &mut bodies);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector3::zeros();
let mut angvel = Vector3::zeros();
let mut pos = Isometry3::identity();
let mut linvel = Vector::zeros();
let mut angvel = Vector::zeros();
let mut pos = Isometry::identity();
let mut step = 0;
let mut extra_colliders = Vec::new();
let snapped_frame = 51;
@@ -55,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
let new_ball_collider_handle =
physics
.colliders
.insert(collider, ball_handle, &mut physics.bodies);
.insert_with_parent(collider, ball_handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_collider(new_ball_collider_handle, &physics.colliders);
@@ -93,7 +91,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Remove then re-add the ground collider.
// let ground = physics.bodies.get_mut(ground_handle).unwrap();
// ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
// ground.set_position(Isometry::translation(0.0, step as f32 * 0.001, 0.0), false);
// let coll = physics
// .colliders
// .remove(ground_collider_handle, &mut physics.bodies, true)
@@ -104,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) {
let new_ground_collider_handle =
physics
.colliders
.insert(coll, ground_handle, &mut physics.bodies);
.insert_with_parent(coll, ground_handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_collider(new_ground_collider_handle, &physics.colliders);
@@ -117,5 +115,5 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
}