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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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38
examples3d/keva3.rs
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@@ -1,14 +1,12 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn build_block(
testbed: &mut Testbed,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
half_extents: Vector3<f32>,
shift: Vector3<f32>,
half_extents: Vector<f32>,
shift: Vector<f32>,
mut numx: usize,
numy: usize,
mut numz: usize,
@@ -17,8 +15,8 @@ pub fn build_block(
let block_width = 2.0 * half_extents.z * numx as f32;
let block_height = 2.0 * half_extents.y * numy as f32;
let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
let mut color0 = Point3::new(0.7, 0.5, 0.9);
let mut color1 = Point3::new(0.6, 1.0, 0.6);
let mut color0 = [0.7, 0.5, 0.9];
let mut color1 = [0.6, 1.0, 0.6];
for i in 0..numy {
std::mem::swap(&mut numx, &mut numz);
@@ -41,15 +39,15 @@ pub fn build_block(
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z,
)
z + dim.z + shift.z
])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
@@ -64,15 +62,15 @@ pub fn build_block(
for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
.translation(vector![
i as f32 * dim.x * 2.0 + dim.x + shift.x,
dim.y + shift.y + block_height,
j as f32 * dim.z * 2.0 + dim.z + shift.z,
)
j as f32 * dim.z * 2.0 + dim.z + shift.z
])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
colliders.insert(collider, handle, bodies);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
}
@@ -94,16 +92,16 @@ 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
*/
let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
let half_extents = vector![0.02, 0.1, 0.4] / 2.0 * 10.0;
let mut block_height = 0.0;
// These should only be set to odd values otherwise
// the blocks won't align in the nicest way.
@@ -120,7 +118,7 @@ pub fn init_world(testbed: &mut Testbed) {
&mut bodies,
&mut colliders,
half_extents,
Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
vector![-block_width / 2.0, block_height, -block_width / 2.0],
numx,
numy,
numz,
@@ -135,5 +133,5 @@ 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());
}