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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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25
src_testbed/box2d_backend.rs
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@@ -87,9 +87,11 @@ impl Box2dWorld {
fn insert_colliders(&mut self, colliders: &ColliderSet) {
for (_, collider) in colliders.iter() {
let b2_body_handle = self.rapier2box2d[&collider.parent()];
let mut b2_body = self.world.body_mut(b2_body_handle);
Self::create_fixture(&collider, &mut *b2_body);
if let Some(parent) = collider.parent() {
let b2_body_handle = self.rapier2box2d[&parent];
let mut b2_body = self.world.body_mut(b2_body_handle);
Self::create_fixture(&collider, &mut *b2_body);
}
}
}
@@ -122,8 +124,8 @@ impl Box2dWorld {
body_a,
body_b,
collide_connected: true,
local_anchor_a: na_vec_to_b2_vec(params.local_anchor1.translation.vector),
local_anchor_b: na_vec_to_b2_vec(params.local_anchor2.translation.vector),
local_anchor_a: na_vec_to_b2_vec(params.local_frame1.translation.vector),
local_anchor_b: na_vec_to_b2_vec(params.local_frame2.translation.vector),
reference_angle: 0.0,
frequency: 0.0,
damping_ratio: 0.0,
@@ -155,7 +157,14 @@ impl Box2dWorld {
}
fn create_fixture(collider: &Collider, body: &mut b2::MetaBody<NoUserData>) {
let center = na_vec_to_b2_vec(collider.position_wrt_parent().translation.vector);
let center = na_vec_to_b2_vec(
collider
.position_wrt_parent()
.copied()
.unwrap_or(na::one())
.translation
.vector,
);
let mut fixture_def = b2::FixtureDef::new();
fixture_def.restitution = collider.material().restitution;
@@ -230,7 +239,9 @@ impl Box2dWorld {
for coll_handle in body.colliders() {
let collider = &mut colliders[*coll_handle];
collider.set_position_debug(pos * collider.position_wrt_parent());
collider.set_position(
pos * collider.position_wrt_parent().copied().unwrap_or(na::one()),
);
}
}
}