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Complete the pfm/pfm contact generator.

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This commit is contained in:
Crozet Sébastien
2020-10-19 16:51:40 +02:00
parent faf3e7e0f7
commit 947c4813c9
14 changed files with 166 additions and 182 deletions
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2
examples3d/all_examples3.rs
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@@ -13,6 +13,7 @@ use std::cmp::Ordering;
mod add_remove3;
mod compound3;
mod debug_boxes3;
mod debug_cylinder3;
mod debug_triangle3;
mod debug_trimesh3;
mod domino3;
@@ -76,6 +77,7 @@ pub fn main() {
("(Debug) boxes", debug_boxes3::init_world),
("(Debug) triangle", debug_triangle3::init_world),
("(Debug) trimesh", debug_trimesh3::init_world),
("(Debug) cylinder", debug_cylinder3::init_world),
];
// Lexicographic sort, with stress tests moved at the end of the list.

65
examples3d/debug_cylinder3.rs Normal file
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@@ -0,0 +1,65 @@
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
// This shows a bug when a cylinder is in contact with a very large
// but very thin cuboid. In this case the EPA returns an incorrect
// contact normal, resulting in the cylinder falling through the floor.
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 100.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(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);
/*
* Create the cubes
*/
let num = 1;
let rad = 1.0;
let shiftx = rad * 2.0 + rad;
let shifty = rad * 2.0 + rad;
let shiftz = rad * 2.0 + rad;
let centerx = shiftx * (num / 2) as f32;
let centery = shifty / 2.0;
let centerz = shiftz * (num / 2) as f32;
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
let x = -centerx + offset;
let y = centery + 3.0;
let z = -centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cylinder(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}

14
examples3d/heightfield3.rs
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@@ -54,13 +54,13 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
let collider = match j % 3 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
_ => ColliderBuilder::cylinder(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);
}
}
}

25
examples3d/primitives3.rs
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@@ -1,4 +1,4 @@
use na::Point3;
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Ground
*/
let ground_size = 100.1;
let ground_height = 0.1;
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
@@ -30,29 +30,30 @@ pub fn init_world(testbed: &mut Testbed) {
let num = 8;
let rad = 1.0;
let shift = rad * 2.0 + rad;
let centerx = shift * (num / 2) as f32;
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
let shiftx = rad * 2.0 + rad;
let shifty = rad * 2.0 + rad;
let shiftz = rad * 2.0 + rad;
let centerx = shiftx * (num / 2) as f32;
let centery = shifty / 2.0;
let centerz = shiftz * (num / 2) as f32;
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..20 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx + offset;
let y = j as f32 * shift + centery + 3.0;
let z = k as f32 * shift - centerz + offset;
let x = i as f32 * shiftx - centerx + offset;
let y = j as f32 * shifty + centery + 3.0;
let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = match j % 2 {
let collider = match j % 3 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// 2 => ColliderBuilder::capsule_y(rad, rad).build(),
_ => unreachable!(),
_ => ColliderBuilder::cylinder(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);

14
examples3d/trimesh3.rs
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@@ -64,13 +64,13 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
let collider = match j % 3 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
_ => ColliderBuilder::cylinder(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);
}
}
}