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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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22
examples3d/locked_rotations3.rs
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@@ -1,6 +1,4 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
// This shows a bug when a cylinder is in contact with a very large
@@ -21,41 +19,41 @@ 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);
/*
* A rectangle that only rotates along the `x` axis.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 3.0, 0.0)
.translation(vector![0.0, 3.0, 0.0])
.lock_translations()
.restrict_rotations(true, false, false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* A tilted capsule that cannot rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 5.0, 0.0)
.rotation(Vector3::x() * 1.0)
.translation(vector![0.0, 5.0, 0.0])
.rotation(Vector::x() * 1.0)
.lock_rotations()
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
let collider = ColliderBuilder::capsule_x(0.6, 0.4).build();
colliders.insert(collider, handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(10.0, 3.0, 0.0), Point3::new(0.0, 3.0, 0.0));
testbed.look_at(point![10.0, 3.0, 0.0], point![0.0, 3.0, 0.0]);
}