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feat: implement new "small-steps" solver + joint improvements

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This commit is contained in:
Sébastien Crozet
2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
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24
examples3d/platform3.rs
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@@ -29,12 +29,12 @@ pub fn init_world(testbed: &mut Testbed) {
let shift = rad * 2.0;
let centerx = shift * num as f32 / 2.0;
let centery = shift / 2.0 + 3.04;
let centerz = shift * num as f32 / 2.0;
for i in 0usize..num {
for j in 0usize..num {
for k in 0usize..num {
let centery = if j >= num / 2 { 5.0 } else { 3.0 };
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery;
let z = k as f32 * shift - centerz;
@@ -51,11 +51,8 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![
0.0,
1.5 + 0.8,
-10.0 * rad
]);
let platform_body =
RigidBodyBuilder::kinematic_velocity_based().translation(vector![0.0, 1.5 + 0.8, 0.0]);
let velocity_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
@@ -65,8 +62,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let platform_body = RigidBodyBuilder::kinematic_position_based().translation(vector![
0.0,
2.0 + 1.5 + 0.8,
-10.0 * rad
3.0 + 1.5 + 0.8,
0.0
]);
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
@@ -75,22 +72,17 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a callback to control the platform.
*/
let mut count = 0;
testbed.add_callback(move |_, physics, _, run_state| {
count += 1;
if count % 100 > 50 {
return;
}
let velocity = vector![
0.0,
(run_state.time * 5.0).sin(),
run_state.time.sin() * 5.0
(run_state.time * 2.0).sin(),
run_state.time.sin() * 2.0
];
// Update the velocity-based kinematic body by setting its velocity.
if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
platform.set_linvel(velocity, true);
platform.set_angvel(vector![0.0, 0.2, 0.0], true);
}
// Update the position-based kinematic body by setting its next position.