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Outsource the contact manifold, SAT, and some shapes.

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This commit is contained in:
Crozet Sébastien
2020-12-08 17:31:49 +01:00
parent fd3b4801b6
commit 9bf1321f8f
62 changed files with 552 additions and 2904 deletions
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8
benchmarks3d/heightfield3.rs
View File

@@ -1,4 +1,4 @@
use na::{DMatrix, Point3, Vector3};
use na::{ComplexField, DMatrix, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
@@ -23,7 +23,11 @@ pub fn init_world(testbed: &mut Testbed) {
} else {
let x = i as f32 * ground_size.x / (nsubdivs as f32);
let z = j as f32 * ground_size.z / (nsubdivs as f32);
x.sin() + z.cos()
// NOTE: make sure we use the sin/cos from simba to ensure
// cross-platform determinism of the example when the
// enhanced_determinism feature is enabled.
<f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
}
});

39
benchmarks3d/trimesh3.rs
View File

@@ -1,6 +1,6 @@
use na::Point3;
use na::{ComplexField, DMatrix, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
@@ -14,28 +14,27 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let ground_size = 200.0f32;
let ground_height = 1.0;
let ground_size = Vector3::new(200.0, 1.0, 200.0);
let nsubdivs = 20;
let quad = rapier3d::ncollide::procedural::quad(ground_size, ground_size, nsubdivs, nsubdivs);
let indices = quad
.flat_indices()
.chunks(3)
.map(|is| Point3::new(is[0], is[2], is[1]))
.collect();
let mut vertices = quad.coords;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs {
10.0
} else {
let x = i as f32 * ground_size.x / (nsubdivs as f32);
let z = j as f32 * ground_size.z / (nsubdivs as f32);
// ncollide generates a quad with `z` as the normal.
// so we switch z and y here and set a random altitude at each point.
for p in vertices.iter_mut() {
p.z = p.y;
p.y = (p.x.sin() + p.z.cos()) * ground_height;
if p.x.abs() == ground_size / 2.0 || p.z.abs() == ground_size / 2.0 {
p.y = 10.0;
// NOTE: make sure we use the sin/cos from simba to ensure
// cross-platform determinism of the example when the
// enhanced_determinism feature is enabled.
<f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
}
}
});
// Here we will build our trimesh from the mesh representation of an
// heightfield.
let heightfield = HeightField::new(heights, ground_size);
let (vertices, indices) = heightfield.to_trimesh();
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);