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Rename rigid-body static to fixed

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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
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4
CHANGELOG.md
View File

@@ -6,6 +6,10 @@
- `RigidsBody::apply_force`, `::apply_torque`, `::apply_force_at_point` have been renamed to `::add_force`,
`::add_torque`, and `::add_force_at_point` to better reflect the fact that they are not cleared at the end
of the timestep.
- Rename `RigidBodyType::Static` to `RigidBodyType::Fixed` to avoid confusion with the `static` keyword.
- All method referring to `static` rigid-bodies now use `fixed` instead of `static`.
- Rename `RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based` to
`RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based`.
## v0.12.0-alpha.0 (2 Jan. 2022)
### Fixed

2
benchmarks2d/balls2.rs
View File

@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shifty + centery;
let status = if j == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};

8
benchmarks2d/boxes2.rs
View File

@@ -15,19 +15,19 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 2.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

8
benchmarks2d/capsules2.rs
View File

@@ -15,19 +15,19 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 4.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 4.0]);
let handle = bodies.insert(rigid_body);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shifty + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

8
benchmarks2d/convex_polygons2.rs
View File

@@ -17,19 +17,19 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 30.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift * 2.0 + centery + 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();

4
benchmarks2d/heightfield2.rs
View File

@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
});
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {

2
benchmarks2d/joint_ball2.rs
View File

@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
let fi = i as f32;
let status = if k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};

2
benchmarks2d/joint_fixed2.rs
View File

@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
let fi = i as f32;
let status = if k == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};

4
benchmarks2d/joint_prismatic2.rs
View File

@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(vector![x, y]);
let ground = RigidBodyBuilder::fixed().translation(vector![x, y]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
@@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
for i in 0..num {
let y = y - (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).density(density);
colliders.insert_with_parent(collider, curr_child, &mut bodies);

4
benchmarks2d/pyramid2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.0;
let ground_thickness = 1.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = fi * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

2
benchmarks3d/balls3.rs
View File

@@ -29,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
let status = if j == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};

4
benchmarks3d/boxes3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
benchmarks3d/capsules3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
benchmarks3d/ccd3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x, y, z])
.linvel(vector![0.0, -1000.0, 0.0])
.ccd_enabled(true);

4
benchmarks3d/compound3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift * 2.0 - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad);
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad).translation(vector![

4
benchmarks3d/convex_polyhedron3.rs
View File

@@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
colliders.insert_with_parent(collider, handle, &mut bodies);

4
benchmarks3d/heightfield3.rs
View File

@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
});
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {

2
benchmarks3d/joint_ball3.rs
View File

@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
let fi = i as f32;
let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};

2
benchmarks3d/joint_fixed3.rs
View File

@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
// 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
};

4
benchmarks3d/joint_prismatic3.rs
View File

@@ -23,7 +23,7 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(vector![x, y, z]);
let ground = RigidBodyBuilder::fixed().translation(vector![x, y, z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
for i in 0..num {
let z = z + (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
colliders.insert_with_parent(collider, curr_child, &mut bodies);

4
benchmarks3d/joint_revolute3.rs
View File

@@ -20,7 +20,7 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static().translation(vector![x, y, 0.0]);
let ground = RigidBodyBuilder::fixed().translation(vector![x, y, 0.0]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
let mut handles = [curr_parent; 4];
for k in 0..4 {
let density = 1.0;
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).density(density);
colliders.insert_with_parent(collider, handles[k], &mut bodies);

6
benchmarks3d/keva3.rs
View File

@@ -38,7 +38,7 @@ pub fn build_block(
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z
@@ -59,7 +59,7 @@ pub fn build_block(
for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
i as f32 * dim.x * 2.0 + dim.x + shift.x,
dim.y + shift.y + block_height,
j as f32 * dim.z * 2.0 + dim.z + shift.z
@@ -88,7 +88,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
benchmarks3d/pyramid3.rs
View File

@@ -22,7 +22,7 @@ fn create_pyramid(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let rigid_body_handle = bodies.insert(rigid_body);
let collider =
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);

8
benchmarks3d/stacks3.rs
View File

@@ -23,7 +23,7 @@ fn create_tower_circle(
* Translation::new(0.0, y, radius);
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos);
let rigid_body = RigidBodyBuilder::dynamic().position(pos);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
@@ -49,7 +49,7 @@ fn create_wall(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
@@ -79,7 +79,7 @@ fn create_pyramid(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
@@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
benchmarks3d/trimesh3.rs
View File

@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
let heightfield = HeightField::new(heights, ground_size);
let (vertices, indices) = heightfield.to_trimesh();
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {

4
examples2d/add_remove2.rs
View File

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
let platform_handles = positions
.into_iter()
.map(|pos| {
let rigid_body = RigidBodyBuilder::new_kinematic_position_based().translation(pos);
let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(pos);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
if state.timestep_id % 10 == 0 {
let x = rand::random::<f32>() * 10.0 - 5.0;
let y = rand::random::<f32>() * 10.0 + 10.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = physics.bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
physics

4
examples2d/ccd2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 25.0;
let ground_thickness = 0.1;
let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true);
let rigid_body = RigidBodyBuilder::fixed().ccd_enabled(true);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
@@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x, y])
.linvel(vector![100.0, -10.0])
.ccd_enabled(true);

4
examples2d/collision_groups2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 5.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -70,7 +70,7 @@ pub fn init_world(testbed: &mut Testbed) {
(BLUE_GROUP, [0.0, 0.0, 1.0])
};
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).collision_groups(group);
colliders.insert_with_parent(collider, handle, &mut bodies);

8
examples2d/convex_polygons2.rs
View File

@@ -17,19 +17,19 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 30.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift * 2.0 + centery + 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();

2
examples2d/damping2.rs
View File

@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos();
// Build the rigid body.
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![x, y])
.linvel(vector![x * 10.0, y * 10.0])
.angvel(100.0)

4
examples2d/debug_box_ball2.rs
View File

@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Ground
*/
let rad = 1.0;
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.translation(vector![0.0, -rad])
.rotation(std::f32::consts::PI / 4.0);
let handle = bodies.insert(rigid_body);
@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
colliders.insert_with_parent(collider, handle, &mut bodies);
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 3.0 * rad])
.can_sleep(false);
let handle = bodies.insert(rigid_body);

4
examples2d/drum2.rs
View File

@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift - centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based();
let platform_body = RigidBodyBuilder::kinematic_velocity_based();
let velocity_based_platform_handle = bodies.insert(platform_body);
let sides = [

4
examples2d/heightfield2.rs
View File

@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
});
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {

2
examples2d/joints2.rs
View File

@@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
let fi = i as f32;
let status = if i == 0 && k == 0 {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};

6
examples2d/locked_rotations2.rs
View File

@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 5.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* A rectangle that only rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 3.0])
.lock_translations();
let handle = bodies.insert(rigid_body);
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* A tilted capsule that cannot rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 5.0])
.rotation(1.0)
.lock_rotations();

4
examples2d/one_way_platforms2.rs
View File

@@ -68,7 +68,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(25.0, 0.5)
@@ -96,7 +96,7 @@ pub fn init_world(testbed: &mut Testbed) {
if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
// Spawn a new cube.
let collider = ColliderBuilder::cuboid(1.5, 2.0);
let body = RigidBodyBuilder::new_dynamic().translation(vector![20.0, 10.0]);
let body = RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]);
let handle = physics.bodies.insert(body);
physics
.colliders

10
examples2d/platform2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 10.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -47,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
.translation(vector![-10.0 * rad, 1.5 + 0.8]);
let platform_body =
RigidBodyBuilder::kinematic_velocity_based().translation(vector![-10.0 * rad, 1.5 + 0.8]);
let velocity_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
@@ -56,7 +56,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based()
let platform_body = RigidBodyBuilder::kinematic_position_based()
.translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8]);
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);

4
examples2d/polyline2.rs
View File

@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
points.push(point![ground_size / 2.0, 40.0]);
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::polyline(points, None);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {

4
examples2d/pyramid2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 10.0;
let ground_thickness = 1.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = fi * shift + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

6
examples2d/restitution2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.;
let ground_height = 1.0;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).restitution(1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,8 +27,8 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..2 {
for i in 0..=num {
let x = (i as f32) - num as f32 / 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]);
let rigid_body =
RigidBodyBuilder::dynamic().translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).restitution((i as f32) / (num as f32));
colliders.insert_with_parent(collider, handle, &mut bodies);

6
examples2d/sensor2.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0]);
let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0]);
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which

8
examples2d/trimesh2.rs
View File

@@ -21,19 +21,19 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
let rigid_body = RigidBodyBuilder::fixed()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size]);
let handle = bodies.insert(rigid_body);
@@ -85,7 +85,7 @@ pub fn init_world(testbed: &mut Testbed) {
for k in 0..5 {
let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone());
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
.rotation(angle);
let handle = bodies.insert(rigid_body);

8
examples3d/ccd3.rs
View File

@@ -21,7 +21,7 @@ fn create_wall(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -93,7 +93,7 @@ pub fn init_world(testbed: &mut Testbed) {
.density(10.0)
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS);
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, 0.0])
.ccd_enabled(true);
@@ -102,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Second rigid-body with CCD enabled.
let collider = ColliderBuilder::ball(1.0).density(10.0);
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, shift_z])
.ccd_enabled(true);

4
examples3d/collision_groups3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 5.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
@@ -73,7 +73,7 @@ pub fn init_world(testbed: &mut Testbed) {
(BLUE_GROUP, [0.0, 0.0, 1.0])
};
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).collision_groups(group);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/compound3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift * 2.0 - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
// First option: attach several colliders to a single rigid-body.

4
examples3d/convex_decomposition3.rs
View File

@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -86,7 +86,7 @@ pub fn init_world(testbed: &mut Testbed) {
let y = (igeom / width) as f32 * shift + 4.0;
let z = k as f32 * shift;
let body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(body);
for shape in &shapes {

4
examples3d/convex_polyhedron3.rs
View File

@@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 40.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
colliders.insert_with_parent(collider, handle, &mut bodies);

2
examples3d/damping3.rs
View File

@@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) {
let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos();
// Build the rigid body.
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![x, y, 0.0])
.linvel(vector![x * 10.0, y * 10.0, 0.0])
.angvel(Vector::z() * 100.0)

4
examples3d/debug_add_remove_collider3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 3.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4);
let mut ground_collider_handle =
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 0.2, 0.0]);
let rb = RigidBodyBuilder::dynamic().translation(vector![0.0, 0.2, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);

4
examples3d/debug_articulations3.rs
View File

@@ -20,7 +20,7 @@ fn create_ball_articulations(
let status = if i == 0 {
// && (k % 4 == 0 || k == num - 1) {
RigidBodyType::Static
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
@@ -74,7 +74,7 @@ pub fn init_world(testbed: &mut Testbed) {
.rotation(vector![0.1, 0.0, 0.1]);
colliders.insert(collider);
let rigid_body = RigidBodyBuilder::new_dynamic();
let rigid_body = RigidBodyBuilder::dynamic();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.0, 0.0])
.rotation(vector![0.1, 0.0, 0.1]);

4
examples3d/debug_big_colliders3.rs
View File

@@ -13,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis()));
let collider = ColliderBuilder::new(halfspace);
@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
let curr_height = 0.1f32.min(curr_width);
curr_y += curr_height * 4.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, curr_y, 0.0]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, curr_y, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width);
colliders.insert_with_parent(collider, handle, &mut bodies);

5
examples3d/debug_boxes3.rs
View File

@@ -17,8 +17,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_height = 0.1;
for _ in 0..6 {
let rigid_body =
RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -26,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Build the dynamic box rigid body.
for _ in 0..2 {
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![1.1, 0.0, 0.0])
// .rotation(vector![0.8, 0.2, 0.1])
.can_sleep(false);

4
examples3d/debug_cylinder3.rs
View File

@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = -centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cylinder(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/debug_dynamic_collider_add3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);

4
examples3d/debug_friction3.rs
View File

@@ -16,13 +16,13 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).friction(1.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Build a dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 1.1, 0.0])
.rotation(Vector::y() * 0.3);
let handle = bodies.insert(rigid_body);

6
examples3d/debug_infinite_fall3.rs
View File

@@ -16,21 +16,21 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 4.0, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 4.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rad = 1.0;
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 7.0 * rad, 0.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 2.0 * rad, 0.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);

8
examples3d/debug_prismatic3.rs
View File

@@ -7,7 +7,7 @@ fn prismatic_repro(
impulse_joints: &mut ImpulseJointSet,
box_center: Point<f32>,
) {
let box_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
box_center.x,
box_center.y,
box_center.z
@@ -24,7 +24,7 @@ fn prismatic_repro(
for pos in wheel_positions {
let wheel_pos_in_world = box_center + pos;
let wheel_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
let wheel_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
@@ -40,7 +40,7 @@ fn prismatic_repro(
}
// put a small box under one of the wheels
let gravel = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
let gravel = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
box_center.x + 1.0,
box_center.y - 2.4,
-1.0
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/debug_rollback3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);

6
examples3d/debug_shape_modification3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
.friction(0.15)
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
let rb = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);
@@ -87,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {

4
examples3d/debug_triangle3.rs
View File

@@ -17,13 +17,13 @@ pub fn init_world(testbed: &mut Testbed) {
point![0.0, 0.0, 10.0],
];
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![1.1, 0.01, 0.0])
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false);

4
examples3d/debug_trimesh3.rs
View File

@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
];
// Dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 35.0, 0.0])
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false);
@@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vtx, idx);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/domino3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
* tilt
* rot;
let rigid_body = RigidBodyBuilder::new_dynamic().position(position);
let rigid_body = RigidBodyBuilder::dynamic().position(position);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/fountain3.rs
View File

@@ -17,14 +17,14 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 2.1; // 16.0;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, _, run_state| {
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0, 0.0]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0, 0.0]);
let handle = physics.bodies.insert(rigid_body);
let collider = match run_state.timestep_id % 3 {
0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),

4
examples3d/harness_capsules3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(harness: &mut Harness) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -43,7 +43,7 @@ pub fn init_world(harness: &mut Harness) {
let z = k as f32 * shift - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);

4
examples3d/heightfield3.rs
View File

@@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
});
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 6 {

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
};

6
examples3d/keva3.rs
View File

@@ -38,7 +38,7 @@ pub fn build_block(
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z
@@ -59,7 +59,7 @@ pub fn build_block(
for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
i as f32 * dim.x * 2.0 + dim.x + shift.x,
dim.y + shift.y + block_height,
j as f32 * dim.z * 2.0 + dim.z + shift.z
@@ -88,7 +88,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);

6
examples3d/locked_rotations3.rs
View File

@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 5.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* A rectangle that only rotates along the `x` axis.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 3.0, 0.0])
.lock_translations()
.restrict_rotations(true, false, false);
@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* A tilted capsule that cannot rotate.
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 5.0, 0.0])
.rotation(Vector::x() * 1.0)
.lock_rotations();

4
examples3d/one_way_platforms3.rs
View File

@@ -68,7 +68,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(9.0, 0.5, 25.0)
@@ -96,7 +96,7 @@ pub fn init_world(testbed: &mut Testbed) {
if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
// Spawn a new cube.
let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.5);
let body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 6.0, 20.0]);
let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 6.0, 20.0]);
let handle = physics.bodies.insert(body);
physics
.colliders

8
examples3d/platform3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 10.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -51,7 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based().translation(vector![
let platform_body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![
0.0,
1.5 + 0.8,
-10.0 * rad
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based().translation(vector![
let platform_body = RigidBodyBuilder::kinematic_position_based().translation(vector![
0.0,
2.0 + 1.5 + 0.8,
-10.0 * rad

4
examples3d/primitives3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -44,7 +44,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {

4
examples3d/restitution3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 20.;
let ground_height = 1.0;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 2.0).restitution(1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
for j in 0..2 {
for i in 0..=num {
let x = (i as f32) - num as f32 / 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![
x * 2.0,
10.0 * (j as f32 + 1.0),
0.0

6
examples3d/sensor3.rs
View File

@@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 5.0, 0.0]);
let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which

4
examples3d/trimesh3.rs
View File

@@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
let heightfield = HeightField::new(heights, ground_size);
let (vertices, indices) = heightfield.to_trimesh();
let rigid_body = RigidBodyBuilder::new_static();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices);
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 6 {

2
src/dynamics/ccd/ccd_solver.rs
View File

@@ -412,7 +412,7 @@ impl CCDSolver {
return PredictedImpacts::ImpactsAfterEndTime(min_overstep);
}
// NOTE: all static bodies (and kinematic bodies?) should be considered as "frozen", this
// NOTE: all fixed bodies (and kinematic bodies?) should be considered as "frozen", this
// may avoid some resweeps.
let mut pseudo_intersections_to_check = vec![];

2
src/dynamics/island_manager.rs
View File

@@ -259,7 +259,7 @@ impl IslandManager {
if rb_ids.active_set_timestamp == self.active_set_timestamp || !rb_status.is_dynamic() {
// We already visited this body and its neighbors.
// Also, we don't propagate awake state through static bodies.
// Also, we don't propagate awake state through fixed bodies.
continue;
}

50
src/dynamics/rigid_body.rs
View File

@@ -112,7 +112,7 @@ impl RigidBody {
self.changes.insert(RigidBodyChanges::TYPE);
self.rb_type = status;
if status == RigidBodyType::Static {
if status == RigidBodyType::Fixed {
self.rb_vels = RigidBodyVelocity::zero();
}
}
@@ -372,11 +372,11 @@ impl RigidBody {
self.rb_type.is_kinematic()
}
/// Is this rigid body static?
/// Is this rigid body fixed?
///
/// A static body cannot move and is not affected by forces.
pub fn is_static(&self) -> bool {
self.rb_type == RigidBodyType::Static
/// A fixed body cannot move and is not affected by forces.
pub fn is_fixed(&self) -> bool {
self.rb_type == RigidBodyType::Fixed
}
/// The mass of this rigid body.
@@ -487,7 +487,7 @@ impl RigidBody {
/// Is this rigid body sleeping?
pub fn is_sleeping(&self) -> bool {
// TODO: should we:
// - return false for static bodies.
// - return false for fixed bodies.
// - return true for non-sleeping dynamic bodies.
// - return true only for kinematic bodies with non-zero velocity?
self.rb_activation.sleeping
@@ -531,7 +531,7 @@ impl RigidBody {
RigidBodyType::KinematicVelocityBased => {
self.rb_vels.linvel = linvel;
}
RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
}
}
}
@@ -553,7 +553,7 @@ impl RigidBody {
RigidBodyType::KinematicVelocityBased => {
self.rb_vels.angvel = angvel;
}
RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
}
}
}
@@ -575,7 +575,7 @@ impl RigidBody {
RigidBodyType::KinematicVelocityBased => {
self.rb_vels.angvel = angvel;
}
RigidBodyType::Static | RigidBodyType::KinematicPositionBased => {}
RigidBodyType::Fixed | RigidBodyType::KinematicPositionBased => {}
}
}
}
@@ -905,7 +905,7 @@ pub struct RigidBodyBuilder {
}
impl RigidBodyBuilder {
/// Initialize a new builder for a rigid body which is either static, dynamic, or kinematic.
/// Initialize a new builder for a rigid body which is either fixed, dynamic, or kinematic.
pub fn new(rb_type: RigidBodyType) -> Self {
Self {
position: Isometry::identity(),
@@ -925,23 +925,39 @@ impl RigidBodyBuilder {
}
}
/// Initializes the builder of a new static rigid body.
/// Initializes the builder of a new fixed rigid body.
#[deprecated(note = "use `RigidBodyBuilder::fixed()` instead")]
pub fn new_static() -> Self {
Self::new(RigidBodyType::Static)
Self::fixed()
}
/// Initializes the builder of a new velocity-based kinematic rigid body.
#[deprecated(note = "use `RigidBodyBuilder::kinematic_velocity_based()` instead")]
pub fn new_kinematic_velocity_based() -> Self {
Self::kinematic_velocity_based()
}
/// Initializes the builder of a new position-based kinematic rigid body.
#[deprecated(note = "use `RigidBodyBuilder::kinematic_position_based()` instead")]
pub fn new_kinematic_position_based() -> Self {
Self::kinematic_position_based()
}
/// Initializes the builder of a new kinematic rigid body.
pub fn new_kinematic_velocity_based() -> Self {
/// Initializes the builder of a new fixed rigid body.
pub fn fixed() -> Self {
Self::new(RigidBodyType::Fixed)
}
/// Initializes the builder of a new velocity-based kinematic rigid body.
pub fn kinematic_velocity_based() -> Self {
Self::new(RigidBodyType::KinematicVelocityBased)
}
/// Initializes the builder of a new kinematic rigid body.
pub fn new_kinematic_position_based() -> Self {
/// Initializes the builder of a new position-based kinematic rigid body.
pub fn kinematic_position_based() -> Self {
Self::new(RigidBodyType::KinematicPositionBased)
}
/// Initializes the builder of a new dynamic rigid body.
pub fn new_dynamic() -> Self {
pub fn dynamic() -> Self {
Self::new(RigidBodyType::Dynamic)
}

12
src/dynamics/rigid_body_components.rs
View File

@@ -57,8 +57,8 @@ pub type BodyStatus = RigidBodyType;
pub enum RigidBodyType {
/// A `RigidBodyType::Dynamic` body can be affected by all external forces.
Dynamic = 0,
/// A `RigidBodyType::Static` body cannot be affected by external forces.
Static = 1,
/// A `RigidBodyType::Fixed` body cannot be affected by external forces.
Fixed = 1,
/// A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
/// by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
///
@@ -73,14 +73,14 @@ pub enum RigidBodyType {
/// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
/// modified by the user and is independent from any contact or joint it is involved in.
KinematicVelocityBased = 3,
// Semikinematic, // A kinematic that performs automatic CCD with the static environment to avoid traversing it?
// Semikinematic, // A kinematic that performs automatic CCD with the fixed environment to avoid traversing it?
// Disabled,
}
impl RigidBodyType {
/// Is this rigid-body static (i.e. cannot move)?
pub fn is_static(self) -> bool {
self == RigidBodyType::Static
/// Is this rigid-body fixed (i.e. cannot move)?
pub fn is_fixed(self) -> bool {
self == RigidBodyType::Fixed
}
/// Is this rigid-body dynamic (i.e. can move and be affected by forces)?

42
src/dynamics/solver/interaction_groups.rs
View File

@@ -93,20 +93,20 @@ impl ParallelInteractionGroups {
.zip(self.interaction_colors.iter_mut())
{
let mut body_pair = interactions[*interaction_id].body_pair();
let is_static1 = body_pair
let is_fixed1 = body_pair
.0
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
.unwrap_or(true);
let is_static2 = body_pair
let is_fixed2 = body_pair
.1
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_static())
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
.unwrap_or(true);
let representative = |handle: RigidBodyHandle| {
if let Some(link) = multibodies.rigid_body_link(handle).copied() {
let multibody = multibodies.get_multibody(link.multibody).unwrap();
multibody
.link(1) // Use the link 1 to cover the case where the multibody root is static.
.link(1) // Use the link 1 to cover the case where the multibody root is fixed.
.or(multibody.link(0)) // TODO: Never happens?
.map(|l| l.rigid_body)
.unwrap()
@@ -120,7 +120,7 @@ impl ParallelInteractionGroups {
body_pair.1.map(representative),
);
match (is_static1, is_static2) {
match (is_fixed1, is_fixed2) {
(false, false) => {
let rb_ids1: &RigidBodyIds = bodies.index(body_pair.0.unwrap().0);
let rb_ids2: &RigidBodyIds = bodies.index(body_pair.1.unwrap().0);
@@ -268,10 +268,10 @@ impl InteractionGroups {
let (status2, ids2): (&RigidBodyType, &RigidBodyIds) =
bodies.index_bundle(interaction.body2.0);
let is_static1 = !status1.is_dynamic();
let is_static2 = !status2.is_dynamic();
let is_fixed1 = !status1.is_dynamic();
let is_fixed2 = !status2.is_dynamic();
if is_static1 && is_static2 {
if is_fixed1 && is_fixed2 {
continue;
}
@@ -334,13 +334,13 @@ impl InteractionGroups {
}
}
// NOTE: static bodies don't transmit forces. Therefore they don't
// NOTE: fixed bodies don't transmit forces. Therefore they don't
// imply any interaction conflicts.
if !is_static1 {
if !is_fixed1 {
self.body_masks[i1] |= target_mask_bit;
}
if !is_static2 {
if !is_fixed2 {
self.body_masks[i2] |= target_mask_bit;
}
}
@@ -431,21 +431,21 @@ impl InteractionGroups {
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb1.0);
(*data.0, data.1.active_set_offset)
} else {
(RigidBodyType::Static, 0)
(RigidBodyType::Fixed, 0)
};
let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
{
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb2.0);
(*data.0, data.1.active_set_offset)
} else {
(RigidBodyType::Static, 0)
(RigidBodyType::Fixed, 0)
};
let is_static1 = !status1.is_dynamic();
let is_static2 = !status2.is_dynamic();
let is_fixed1 = !status1.is_dynamic();
let is_fixed2 = !status2.is_dynamic();
// TODO: don't generate interactions between static bodies in the first place.
if is_static1 && is_static2 {
// TODO: don't generate interactions between fixed bodies in the first place.
if is_fixed1 && is_fixed2 {
continue;
}
@@ -489,13 +489,13 @@ impl InteractionGroups {
occupied_mask = occupied_mask | target_mask_bit;
}
// NOTE: static bodies don't transmit forces. Therefore they don't
// NOTE: fixed bodies don't transmit forces. Therefore they don't
// imply any interaction conflicts.
if !is_static1 {
if !is_fixed1 {
self.body_masks[i1] |= target_mask_bit;
}
if !is_static2 {
if !is_fixed2 {
self.body_masks[i2] |= target_mask_bit;
}
}

4
src/geometry/broad_phase_multi_sap/broad_phase.rs
View File

@@ -634,7 +634,7 @@ mod test {
let mut multibody_joints = MultibodyJointSet::new();
let mut islands = IslandManager::new();
let rb = RigidBodyBuilder::new_dynamic().build();
let rb = RigidBodyBuilder::dynamic().build();
let co = ColliderBuilder::ball(0.5).build();
let hrb = bodies.insert(rb);
let coh = colliders.insert_with_parent(co, hrb, &mut bodies);
@@ -652,7 +652,7 @@ mod test {
broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
// Create another body.
let rb = RigidBodyBuilder::new_dynamic().build();
let rb = RigidBodyBuilder::dynamic().build();
let co = ColliderBuilder::ball(0.5).build();
let hrb = bodies.insert(rb);
let coh = colliders.insert_with_parent(co, hrb, &mut bodies);

8
src/geometry/collider_components.rs
View File

@@ -285,18 +285,18 @@ bitflags::bitflags! {
/// and another collider attached to a kinematic body.
const DYNAMIC_KINEMATIC = 0b0000_0000_0000_1100;
/// Enable collision-detection between a collider attached to a dynamic body
/// and another collider attached to a static body (or not attached to any body).
/// and another collider attached to a fixed body (or not attached to any body).
const DYNAMIC_STATIC = 0b0000_0000_0000_0010;
/// Enable collision-detection between a collider attached to a kinematic body
/// and another collider attached to a kinematic body.
const KINEMATIC_KINEMATIC = 0b1100_1100_0000_0000;
/// Enable collision-detection between a collider attached to a kinematic body
/// and another collider attached to a static body (or not attached to any body).
/// and another collider attached to a fixed body (or not attached to any body).
const KINEMATIC_STATIC = 0b0010_0010_0000_0000;
/// Enable collision-detection between a collider attached to a static body (or
/// not attached to any body) and another collider attached to a static body (or
/// Enable collision-detection between a collider attached to a fixed body (or
/// not attached to any body) and another collider attached to a fixed body (or
/// not attached to any body).
const STATIC_STATIC = 0b0000_0000_0010_0000;
}

14
src/geometry/narrow_phase.rs
View File

@@ -392,7 +392,7 @@ impl NarrowPhase {
// For each modified colliders, we need to wake-up the bodies it is in contact with
// so that the narrow-phase properly takes into account the change in, e.g.,
// collision groups. Waking up the modified collider's parent isn't enough because
// it could be a static or kinematic body which don't propagate the wake-up state.
// it could be a fixed or kinematic body which don't propagate the wake-up state.
let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
let (co_changes, co_type): (&ColliderChanges, &ColliderType) =
@@ -740,8 +740,8 @@ impl NarrowPhase {
}
// TODO: avoid lookup into bodies.
let mut rb_type1 = RigidBodyType::Static;
let mut rb_type2 = RigidBodyType::Static;
let mut rb_type1 = RigidBodyType::Fixed;
let mut rb_type2 = RigidBodyType::Fixed;
if let Some(co_parent1) = co_parent1 {
rb_type1 = *bodies.index(co_parent1.handle.0);
@@ -865,8 +865,8 @@ impl NarrowPhase {
}
// TODO: avoid lookup into bodies.
let mut rb_type1 = RigidBodyType::Static;
let mut rb_type2 = RigidBodyType::Static;
let mut rb_type1 = RigidBodyType::Fixed;
let mut rb_type2 = RigidBodyType::Fixed;
if let Some(co_parent1) = co_parent1 {
rb_type1 = *bodies.index(co_parent1.handle.0);
@@ -1076,7 +1076,7 @@ impl NarrowPhase {
bodies.index_bundle(handle1.0);
(data.0.active_island_id, *data.1, data.2.sleeping)
} else {
(0, RigidBodyType::Static, true)
(0, RigidBodyType::Fixed, true)
};
let (active_island_id2, rb_type2, sleeping2) =
@@ -1085,7 +1085,7 @@ impl NarrowPhase {
bodies.index_bundle(handle2.0);
(data.0.active_island_id, *data.1, data.2.sleeping)
} else {
(0, RigidBodyType::Static, true)
(0, RigidBodyType::Fixed, true)
};
if (rb_type1.is_dynamic() || rb_type2.is_dynamic())

20
src/pipeline/physics_pipeline.rs
View File

@@ -688,7 +688,7 @@ mod test {
use crate::prelude::MultibodyJointSet;
#[test]
fn kinematic_and_static_contact_crash() {
fn kinematic_and_fixed_contact_crash() {
let mut colliders = ColliderSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
@@ -698,13 +698,13 @@ mod test {
let mut bodies = RigidBodySet::new();
let mut islands = IslandManager::new();
let rb = RigidBodyBuilder::new_static().build();
let rb = RigidBodyBuilder::fixed().build();
let h1 = bodies.insert(rb.clone());
let co = ColliderBuilder::ball(10.0).build();
colliders.insert_with_parent(co.clone(), h1, &mut bodies);
// The same but with a kinematic body.
let rb = RigidBodyBuilder::new_kinematic_position_based().build();
let rb = RigidBodyBuilder::kinematic_position_based().build();
let h2 = bodies.insert(rb.clone());
colliders.insert_with_parent(co, h2, &mut bodies);
@@ -737,18 +737,18 @@ mod test {
let mut bodies = RigidBodySet::new();
// Check that removing the body right after inserting it works.
// We add two dynamic bodies, one kinematic body and one static body before removing
// We add two dynamic bodies, one kinematic body and one fixed body before removing
// them. This include a non-regression test where deleting a kimenatic body crashes.
let rb = RigidBodyBuilder::new_dynamic().build();
let rb = RigidBodyBuilder::dynamic().build();
let h1 = bodies.insert(rb.clone());
let h2 = bodies.insert(rb.clone());
// The same but with a kinematic body.
let rb = RigidBodyBuilder::new_kinematic_position_based().build();
let rb = RigidBodyBuilder::kinematic_position_based().build();
let h3 = bodies.insert(rb.clone());
// The same but with a static body.
let rb = RigidBodyBuilder::new_static().build();
// The same but with a fixed body.
let rb = RigidBodyBuilder::fixed().build();
let h4 = bodies.insert(rb.clone());
let to_delete = [h1, h2, h3, h4];
@@ -787,7 +787,7 @@ mod test {
let mut islands = IslandManager::new();
let mut bodies = RigidBodySet::new();
let rb = RigidBodyBuilder::new_dynamic().build();
let rb = RigidBodyBuilder::dynamic().build();
let h1 = bodies.insert(rb.clone());
let h2 = bodies.insert(rb.clone());
let h3 = bodies.insert(rb.clone());
@@ -846,7 +846,7 @@ mod test {
let physics_hooks = ();
let event_handler = ();
let body = RigidBodyBuilder::new_dynamic().build();
let body = RigidBodyBuilder::dynamic().build();
let b_handle = bodies.insert(body);
let collider = ColliderBuilder::ball(1.0).build();
let c_handle = colliders.insert_with_parent(collider, b_handle, &mut bodies);

2
src/pipeline/user_changes.rs
View File

@@ -117,7 +117,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies<Bodies, Colliders>(
islands.active_kinematic_set.push(*handle);
}
}
RigidBodyType::Static => {}
RigidBodyType::Fixed => {}
}
}

4
src_testbed/graphics.rs
View File

@@ -170,11 +170,11 @@ impl GraphicsManager {
&mut self,
materials: &mut Assets<BevyMaterial>,
handle: RigidBodyHandle,
is_static: bool,
is_fixed: bool,
) -> Point3<f32> {
let mut color = self.ground_color;
if !is_static {
if !is_fixed {
match self.b2color.get(&handle).cloned() {
Some(c) => color = c,
None => color = Self::gen_color(&mut self.rand),

8
src_testbed/physx_backend.rs
View File

@@ -213,7 +213,7 @@ impl PhysxWorld {
rapier2dynamic.insert(rapier_handle, actor);
} else {
let actor = physics.create_static(pos, ()).unwrap();
let actor = physics.create_fixed(pos, ()).unwrap();
rapier2static.insert(rapier_handle, actor);
}
}
@@ -231,7 +231,7 @@ impl PhysxWorld {
let rb_handle = link.rigid_body_handle();
let rb = bodies.get(rb_handle).unwrap();
if is_root && rb.is_static() {
if is_root && rb.is_fixed() {
articulation.set_articulation_flag(ArticulationFlag::FixBase, true);
}
@@ -382,7 +382,7 @@ impl PhysxWorld {
);
for (_, actor) in rapier2static {
scene.add_static_actor(actor);
scene.add_fixed_actor(actor);
}
for (_, actor) in rapier2dynamic {
@@ -712,7 +712,7 @@ type PxPhysicsFoundation = PhysicsFoundation<DefaultAllocator, PxShape>;
type PxMaterial = physx::material::PxMaterial<()>;
type PxShape = physx::shape::PxShape<(), PxMaterial>;
type PxArticulationLink = physx::articulation_link::PxArticulationLink<RigidBodyHandle, PxShape>;
type PxRigidStatic = physx::rigid_static::PxRigidStatic<(), PxShape>;
type PxRigidStatic = physx::rigid_fixed::PxRigidStatic<(), PxShape>;
type PxRigidDynamic = physx::rigid_dynamic::PxRigidDynamic<RigidBodyHandle, PxShape>;
type PxArticulation = physx::articulation::PxArticulation<(), PxArticulationLink>;
type PxArticulationReducedCoordinate =

4
src_testbed/testbed.rs
View File

@@ -668,7 +668,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
.physics
.bodies
.iter()
.filter(|e| !e.1.is_static())
.filter(|e| !e.1.is_fixed())
.map(|e| e.0)
.collect();
let num_to_delete = (dynamic_bodies.len() / 10).max(1);
@@ -773,7 +773,7 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
//
// let collider = ColliderBuilder::cuboid(4.0, 2.0, 0.4).density(20.0).build();
// // let collider = ColliderBuilder::ball(2.0).density(1.0).build();
// let body = RigidBodyBuilder::new_dynamic()
// let body = RigidBodyBuilder::dynamic()
// .position(cam_pos)
// .linvel(vel.x, vel.y, vel.z)
// .ccd_enabled(true)