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Update parry and changelog

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This commit is contained in:
Sébastien Crozet
2022-12-11 15:18:11 +01:00
parent 849f398031
commit 8ef8680817
7 changed files with 64 additions and 75 deletions
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5
CHANGELOG.md
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@@ -2,10 +2,13 @@
## Unreleased ## Unreleased
### Added ### Added
- Add `RigidBody::set_enabled`, `RigidBody::is_enabled`, `RigidBodyBuilder::enabled` to enable/disable a rigid-body - Add `RigidBody::set_enabled`, `RigidBody::is_enabled`, `RigidBodyBuilder::enabled` to enable/disable a rigid-body
without having to delete it. without having to delete it. Disabling a rigid-body attached to a multibody joint isn’t supported yet.
- Add `Collider::set_enabled`, `Collider::is_enabled`, `ColliderBuilder::enabled` to enable/disable a collider - Add `Collider::set_enabled`, `Collider::is_enabled`, `ColliderBuilder::enabled` to enable/disable a collider
without having to delete it. without having to delete it.
- Add `GenericJoint::set_enabled`, `GenericJoint::is_enabled` to enable/disable a joint without having to delete it. - Add `GenericJoint::set_enabled`, `GenericJoint::is_enabled` to enable/disable a joint without having to delete it.
Disabling a multibody joint isn’t supported yet.
- Add `DynamicRayCastVehicleController`, a vehicle controller based on ray-casting and dynamic rigid-bodies (mostly
a port of the vehicle controller from Bullet physics).
### Modified ### Modified
- Add the `QueryPipeline` as an optional argument to `PhysicsPipeline::step` and `CollisionPipeline::step`. If this - Add the `QueryPipeline` as an optional argument to `PhysicsPipeline::step` and `CollisionPipeline::step`. If this

2
crates/rapier2d-f64/Cargo.toml
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@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true } instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.31" nalgebra = "0.31"
parry2d-f64 = "^0.11.1" parry2d-f64 = "0.12"
simba = "0.7" simba = "0.7"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

2
crates/rapier2d/Cargo.toml
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@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true } instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.31" nalgebra = "0.31"
parry2d = "^0.11.1" parry2d = "0.12"
simba = "0.7" simba = "0.7"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

2
crates/rapier3d-f64/Cargo.toml
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@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true } instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.31" nalgebra = "0.31"
parry3d-f64 = "^0.11.1" parry3d-f64 = "0.12"
simba = "0.7" simba = "0.7"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

2
crates/rapier3d/Cargo.toml
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@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true } instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.31" nalgebra = "0.31"
parry3d = "^0.11.1" parry3d = "0.12"
simba = "0.7" simba = "0.7"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

110
examples3d/vehicle_controller3.rs
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@@ -29,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
let hh = 0.15; let hh = 0.15;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 1.0, 0.0]); let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 1.0, 0.0]);
let vehicle_handle = bodies.insert(rigid_body); let vehicle_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(hw, hh, hw); let collider = ColliderBuilder::cuboid(hw * 2.0, hh, hw).density(100.0);
colliders.insert_with_parent(collider, vehicle_handle, &mut bodies); colliders.insert_with_parent(collider, vehicle_handle, &mut bodies);
let mut tuning = WheelTuning::default(); let mut tuning = WheelTuning::default();
@@ -37,10 +37,10 @@ pub fn init_world(testbed: &mut Testbed) {
tuning.suspension_damping = 10.0; tuning.suspension_damping = 10.0;
let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle); let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
let wheel_positions = [ let wheel_positions = [
point![hw, -hh, hw], point![hw * 1.5, -hh, hw],
point![hw, -hh, -hw], point![hw * 1.5, -hh, -hw],
point![-hw, -hh, hw], point![-hw * 1.5, -hh, hw],
point![-hw, -hh, -hw], point![-hw * 1.5, -hh, -hw],
]; ];
for pos in wheel_positions { for pos in wheel_positions {
@@ -57,7 +57,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centerx = shift * (num / 2) as f32; let centerx = shift * (num / 2) as f32;
let centery = rad; let centery = rad;
for j in 0usize..4 { for j in 0usize..1 {
for k in 0usize..4 { for k in 0usize..4 {
for i in 0..num { for i in 0..num {
let x = i as f32 * shift - centerx; let x = i as f32 * shift - centerx;
@@ -72,26 +72,12 @@ pub fn init_world(testbed: &mut Testbed) {
} }
} }
/*
* Create some stairs.
*/
let stair_width = 1.0;
let stair_height = 0.1;
for i in 0..10 {
let x = i as f32 * stair_width / 2.0;
let y = i as f32 * stair_height * 1.5 + 3.0;
let collider = ColliderBuilder::cuboid(stair_width / 2.0, stair_height / 2.0, stair_width)
.translation(vector![x, y, 0.0]);
colliders.insert(collider);
}
/* /*
* Create a slope we can climb. * Create a slope we can climb.
*/ */
let slope_angle = 0.2; let slope_angle = 0.2;
let slope_size = 2.0; let slope_size = 2.0;
let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size) let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
.translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0]) .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
.rotation(Vector::z() * slope_angle); .rotation(Vector::z() * slope_angle);
colliders.insert(collider); colliders.insert(collider);
@@ -110,60 +96,60 @@ pub fn init_world(testbed: &mut Testbed) {
.rotation(Vector::z() * impossible_slope_angle); .rotation(Vector::z() * impossible_slope_angle);
colliders.insert(collider); colliders.insert(collider);
/* // /*
* Create a moving platform. // * Create a moving platform.
*/ // */
let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]); // let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]);
// .rotation(-0.3); // // .rotation(-0.3);
let platform_handle = bodies.insert(body); // let platform_handle = bodies.insert(body);
let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0); // let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0);
colliders.insert_with_parent(collider, platform_handle, &mut bodies); // colliders.insert_with_parent(collider, platform_handle, &mut bodies);
/* /*
* More complex ground. * More complex ground.
*/ */
let ground_size = Vector::new(10.0, 1.0, 10.0); let ground_size = Vector::new(10.0, 0.4, 10.0);
let nsubdivs = 20; let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| { let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
(i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos() -(i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos()
+ (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos() - (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
}); });
let collider = let collider =
ColliderBuilder::heightfield(heights, ground_size).translation(vector![-8.0, 5.0, 0.0]); ColliderBuilder::heightfield(heights, ground_size).translation(vector![-7.0, 0.0, 0.0]);
colliders.insert(collider); colliders.insert(collider);
/* // /*
* A tilting dynamic body with a limited joint. // * A tilting dynamic body with a limited joint.
*/ // */
let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]); // let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]);
let ground_handle = bodies.insert(ground); // let ground_handle = bodies.insert(ground);
let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]); // let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
let handle = bodies.insert(body); // let handle = bodies.insert(body);
let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0); // let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0);
colliders.insert_with_parent(collider, handle, &mut bodies); // colliders.insert_with_parent(collider, handle, &mut bodies);
let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]); // let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]);
impulse_joints.insert(ground_handle, handle, joint, true); // impulse_joints.insert(ground_handle, handle, joint, true);
/* // /*
* Setup a callback to move the platform. // * Setup a callback to move the platform.
*/ // */
testbed.add_callback(move |_, physics, _, run_state| { // testbed.add_callback(move |_, physics, _, run_state| {
let linvel = vector![ // let linvel = vector![
(run_state.time * 2.0).sin() * 2.0, // (run_state.time * 2.0).sin() * 2.0,
(run_state.time * 5.0).sin() * 1.5, // (run_state.time * 5.0).sin() * 1.5,
0.0 // 0.0
]; // ];
// let angvel = run_state.time.sin() * 0.5; // // let angvel = run_state.time.sin() * 0.5;
//
// Update the velocity-based kinematic body by setting its velocity. // // Update the velocity-based kinematic body by setting its velocity.
if let Some(platform) = physics.bodies.get_mut(platform_handle) { // if let Some(platform) = physics.bodies.get_mut(platform_handle) {
platform.set_linvel(linvel, true); // platform.set_linvel(linvel, true);
// NOTE: interaction with rotating platforms isn’t handled very well yet. // // NOTE: interaction with rotating platforms isn’t handled very well yet.
// platform.set_angvel(angvel, true); // // platform.set_angvel(angvel, true);
} // }
}); // });
/* /*
* Set up the testbed. * Set up the testbed.

16
src_testbed/testbed.rs
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@@ -652,16 +652,16 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
for key in events.get_pressed() { for key in events.get_pressed() {
match *key { match *key {
KeyCode::Right => { KeyCode::Right => {
steering_angle += -0.1; steering_angle += -0.7;
} }
KeyCode::Left => { KeyCode::Left => {
steering_angle += 0.1; steering_angle += 0.7;
} }
KeyCode::Up => { KeyCode::Up => {
engine_force += 0.1; engine_force += 30.0;
} }
KeyCode::Down => { KeyCode::Down => {
engine_force += -0.1; engine_force += -30.0;
} }
_ => {} _ => {}
} }
@@ -1308,10 +1308,10 @@ fn update_testbed(
|| state.prev_flags.contains(TestbedStateFlags::WIREFRAME) || state.prev_flags.contains(TestbedStateFlags::WIREFRAME)
!= state.flags.contains(TestbedStateFlags::WIREFRAME) != state.flags.contains(TestbedStateFlags::WIREFRAME)
{ {
// graphics.toggle_wireframe_mode( graphics.toggle_wireframe_mode(
// &harness.physics.colliders, &harness.physics.colliders,
// state.flags.contains(TestbedStateFlags::WIREFRAME), state.flags.contains(TestbedStateFlags::WIREFRAME),
// ) )
} }
if state.prev_flags.contains(TestbedStateFlags::SLEEP) if state.prev_flags.contains(TestbedStateFlags::SLEEP)