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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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36
src_testbed/nphysics_backend.rs
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@@ -55,15 +55,17 @@ impl NPhysicsWorld {
}
for (_, collider) in colliders.iter() {
let parent = &bodies[collider.parent()];
let nphysics_rb_handle = rapier2nphysics[&collider.parent()];
if let Some(collider) =
nphysics_collider_from_rapier_collider(&collider, parent.is_dynamic())
{
let nphysics_collider = collider.build(BodyPartHandle(nphysics_rb_handle, 0));
nphysics_colliders.insert(nphysics_collider);
} else {
eprintln!("Creating shape unknown to the nphysics backend.")
if let Some(parent_handle) = collider.parent() {
let parent = &bodies[parent_handle];
let nphysics_rb_handle = rapier2nphysics[&parent_handle];
if let Some(collider) =
nphysics_collider_from_rapier_collider(&collider, parent.is_dynamic())
{
let nphysics_collider = collider.build(BodyPartHandle(nphysics_rb_handle, 0));
nphysics_colliders.insert(nphysics_collider);
} else {
eprintln!("Creating shape unknown to the nphysics backend.")
}
}
}
@@ -76,10 +78,10 @@ impl NPhysicsWorld {
let c = FixedConstraint::new(
b1,
b2,
params.local_anchor1.translation.vector.into(),
params.local_anchor1.rotation,
params.local_anchor2.translation.vector.into(),
params.local_anchor2.rotation,
params.local_frame1.translation.vector.into(),
params.local_frame1.rotation,
params.local_frame2.translation.vector.into(),
params.local_frame2.rotation,
);
nphysics_joints.insert(c);
}
@@ -172,7 +174,9 @@ impl NPhysicsWorld {
for coll_handle in rb.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()),
);
}
}
}
@@ -183,7 +187,7 @@ fn nphysics_collider_from_rapier_collider(
is_dynamic: bool,
) -> Option<ColliderDesc<f32>> {
let mut margin = ColliderDesc::<f32>::default_margin();
let mut pos = *collider.position_wrt_parent();
let mut pos = collider.position_wrt_parent().copied().unwrap_or(na::one());
let shape = collider.shape();
let shape = if let Some(cuboid) = shape.as_cuboid() {
@@ -209,7 +213,7 @@ fn nphysics_collider_from_rapier_collider(
trimesh
.indices()
.iter()
.map(|idx| na::Point3::new(idx[0] as usize, idx[1] as usize, idx[2] as usize))
.map(|idx| na::point![idx[0] as usize, idx[1] as usize, idx[2] as usize])
.collect(),
None,
))