nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rename rigid-body static to fixed

Browse Source
This commit is contained in:
Sébastien Crozet
2022-03-19 16:23:09 +01:00
committed by Sébastien Crozet
parent db6a8c526d
commit a9e3441ecd
87 changed files with 284 additions and 271 deletions
Download Patch File Download Diff File Expand all files Collapse all files

48
examples3d/joints3.rs
View File

@@ -9,9 +9,9 @@ fn create_coupled_joints(
origin: Point<f32>,
use_articulations: bool,
) {
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
let body1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
RigidBodyBuilder::dynamic()
.translation(origin.coords)
.linvel(vector![5.0, 5.0, 5.0]),
);
@@ -42,15 +42,14 @@ fn create_prismatic_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, origin.z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, bodies);
for i in 0..num {
let z = origin.z + (i + 1) as f32 * shift;
let rigid_body =
RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
@@ -87,15 +86,14 @@ fn create_actuated_prismatic_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, origin.z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, bodies);
for i in 0..num {
let z = origin.z + (i + 1) as f32 * shift;
let rigid_body =
RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
@@ -153,7 +151,7 @@ fn create_revolute_joints(
let rad = 0.4;
let shift = 2.0;
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, 0.0]);
let ground = RigidBodyBuilder::fixed().translation(vector![origin.x, origin.y, 0.0]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, bodies);
@@ -170,7 +168,7 @@ fn create_revolute_joints(
let mut handles = [curr_parent; 4];
for k in 0..4 {
let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]);
let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]);
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handles[k], bodies);
@@ -210,14 +208,13 @@ fn create_revolute_joints_with_limits(
origin: Point<f32>,
use_articulations: bool,
) {
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
let platform1 = bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords));
let platform1 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords));
colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform1, bodies);
let shift = vector![0.0, 0.0, 6.0];
let platform2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift));
let platform2 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords + shift));
colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform2, bodies);
let z = Vector::z_axis();
@@ -256,9 +253,8 @@ fn create_revolute_joints_with_limits(
}
// Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
let cuboid_body1 = bodies.insert(
RigidBodyBuilder::new_dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]),
);
let cuboid_body1 = bodies
.insert(RigidBodyBuilder::dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]));
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
cuboid_body1,
@@ -266,8 +262,7 @@ fn create_revolute_joints_with_limits(
);
let cuboid_body2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift + vector![2.0, 16.0, 0.0]),
RigidBodyBuilder::dynamic().translation(origin.coords + shift + vector![2.0, 16.0, 0.0]),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
@@ -299,7 +294,7 @@ fn create_fixed_joints(
// fixed bodies. Because physx will crash if we add
// a joint between these.
let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
@@ -358,7 +353,7 @@ fn create_spherical_joints(
let fi = i as f32;
let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
@@ -408,17 +403,16 @@ fn create_spherical_joints_with_limits(
) {
let shift = vector![0.0, 0.0, 3.0];
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ground = bodies.insert(RigidBodyBuilder::fixed().translation(origin.coords));
let ball1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
RigidBodyBuilder::dynamic()
.translation(origin.coords + shift)
.linvel(vector![20.0, 20.0, 0.0]),
);
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball1, bodies);
let ball2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift * 2.0));
let ball2 = bodies.insert(RigidBodyBuilder::dynamic().translation(origin.coords + shift * 2.0));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball2, bodies);
let joint1 = SphericalJointBuilder::new()
@@ -465,7 +459,7 @@ fn create_actuated_revolute_joints(
// fixed bodies. Because physx will crash if we add
// a joint between these.
let status = if i == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
@@ -533,7 +527,7 @@ fn create_actuated_spherical_joints(
// fixed bodies. Because physx will crash if we add
// a joint between these.
let status = if i == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};