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Fix some warnings

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This commit is contained in:
Crozet Sébastien
2021-04-29 10:33:07 +02:00
parent 705876f5e5
commit 3810466326
2 changed files with 26 additions and 36 deletions
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56
examples3d/platform3.rs
View File

@@ -1,4 +1,4 @@
use na::{Isometry3, Point3, UnitQuaternion, Vector3}; use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet}; use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed; use rapier_testbed3d::Testbed;
@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
/* /*
* Ground. * Ground.
*/ */
let ground_size = 20.0; let ground_size = 10.0;
let ground_height = 0.1; let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static() let rigid_body = RigidBodyBuilder::new_static()
@@ -27,28 +27,25 @@ pub fn init_world(testbed: &mut Testbed) {
/* /*
* Create the boxes * Create the boxes
*/ */
let num = 1; let num = 6;
let rad = 0.2; let rad = 0.2;
let shift = rad * 2.0; let shift = rad * 2.0;
let centerx = shift * num as f32 / 2.0; let centerx = shift * num as f32 / 2.0;
let centery = shift / 2.0; let centery = shift / 2.0 + 3.04;
let centerz = shift * num as f32 / 2.0; let centerz = shift * num as f32 / 2.0;
for i in 0usize..20 { for i in 0usize..num {
for j in 0usize..num { for j in 0usize..num {
for k in 0usize..num { for k in 0usize..num {
let x = i as f32 * (shift + rad / 4.0) - centerx; let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery; let y = j as f32 * shift + centery;
let z = k as f32 * shift - centerz; let z = k as f32 * shift - centerz;
// Build the rigid body. // Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic() let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
.translation(x, y + rad, z)
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body); let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad * 2.0, rad).build(); let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies); colliders.insert(collider, handle, &mut bodies);
} }
} }
@@ -58,16 +55,11 @@ pub fn init_world(testbed: &mut Testbed) {
* Setup a kinematic rigid body. * Setup a kinematic rigid body.
*/ */
let platform_body = RigidBodyBuilder::new_kinematic() let platform_body = RigidBodyBuilder::new_kinematic()
.translation(0.2, 0.4, -40.0 * rad) .translation(0.0, 1.5 + 0.8, -10.0 * rad)
.build(); .build();
let platform_handle = bodies.insert(platform_body); let platform_handle = bodies.insert(platform_body);
let collider1 = ColliderBuilder::cuboid(rad * 5.0, rad * 2.0, rad * 10.0).build(); let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
let collider2 = ColliderBuilder::cuboid(rad * 5.0, rad * 2.0, rad * 10.0) colliders.insert(collider, platform_handle, &mut bodies);
.position_wrt_parent(Isometry3::translation(0.0, rad * 2.1, 0.0))
.build();
colliders.insert(collider1, platform_handle, &mut bodies);
colliders.insert(collider2, platform_handle, &mut bodies);
testbed.set_body_color(platform_handle, Point3::new(1.0, 1.0, 0.0));
/* /*
* Setup a callback to control the platform. * Setup a callback to control the platform.
@@ -75,27 +67,23 @@ pub fn init_world(testbed: &mut Testbed) {
let mut count = 0; let mut count = 0;
testbed.add_callback(move |_, _, physics, _, run_state| { testbed.add_callback(move |_, _, physics, _, run_state| {
count += 1; count += 1;
// if count % 100 > 50 { if count % 100 > 50 {
// return; return;
// } }
if let Some(platform) = physics.bodies.get_mut(platform_handle) { if let Some(platform) = physics.bodies.get_mut(platform_handle) {
let mut next_pos = *platform.position(); let mut next_pos = *platform.position();
let dt = 0.016; let dt = 0.016;
// next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt; next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
// next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt; next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
let drot = UnitQuaternion::new(Vector3::y() * 0.01); if next_pos.translation.vector.z >= rad * 10.0 {
next_pos.rotation = drot * next_pos.rotation; next_pos.translation.vector.z -= dt;
next_pos.translation.vector += next_pos.rotation * Vector3::z() * 0.1; }
if next_pos.translation.vector.z <= -rad * 10.0 {
// if next_pos.translation.vector.z >= rad * 10.0 { next_pos.translation.vector.z += dt;
// next_pos.translation.vector.z -= dt; }
// }
// if next_pos.translation.vector.z <= -rad * 10.0 {
// next_pos.translation.vector.z += dt;
// }
platform.set_next_kinematic_position(next_pos); platform.set_next_kinematic_position(next_pos);
} }

6
src/dynamics/solver/interaction_groups.rs
View File

@@ -1,11 +1,13 @@
use crate::data::{BundleSet, ComponentSet}; use crate::data::ComponentSet;
#[cfg(feature = "parallel")] #[cfg(feature = "parallel")]
use crate::dynamics::BodyPair; use crate::dynamics::BodyPair;
use crate::dynamics::{IslandManager, RigidBodyIds, RigidBodyType}; use crate::dynamics::{IslandManager, RigidBodyIds};
use crate::dynamics::{JointGraphEdge, JointIndex}; use crate::dynamics::{JointGraphEdge, JointIndex};
use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")] #[cfg(feature = "simd-is-enabled")]
use { use {
crate::data::BundleSet,
crate::dynamics::RigidBodyType,
crate::math::{SIMD_LAST_INDEX, SIMD_WIDTH}, crate::math::{SIMD_LAST_INDEX, SIMD_WIDTH},
vec_map::VecMap, vec_map::VecMap,
}; };