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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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20
examples3d/domino3.rs
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@@ -1,6 +1,4 @@
use na::{Point3, Translation3, UnitQuaternion, 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) {
@@ -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
@@ -31,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
let width = 1.0;
let thickness = 0.1;
let colors = [Point3::new(0.7, 0.5, 0.9), Point3::new(0.6, 1.0, 0.6)];
let colors = [[0.7, 0.5, 0.9], [0.6, 1.0, 0.6]];
let mut curr_angle = 0.0;
let mut curr_rad = 10.0;
@@ -50,16 +48,16 @@ pub fn init_world(testbed: &mut Testbed) {
let tilt = if nudged || i == num - 1 { 0.2 } else { 0.0 };
if skip == 0 {
let rot = UnitQuaternion::new(Vector3::y() * curr_angle);
let tilt = UnitQuaternion::new(rot * Vector3::z() * tilt);
let rot = Rotation::new(Vector::y() * curr_angle);
let tilt = Rotation::new(rot * Vector::z() * tilt);
let position =
Translation3::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
* tilt
* rot;
let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, colors[i % 2]);
} else {
skip -= 1;
@@ -76,5 +74,5 @@ 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());
}