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Merge branch 'master' into split_geom

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# Conflicts:
#	examples2d/sensor2.rs
#	examples3d/sensor3.rs
#	src/dynamics/integration_parameters.rs
#	src/dynamics/solver/parallel_island_solver.rs
#	src/dynamics/solver/velocity_constraint.rs
#	src/dynamics/solver/velocity_ground_constraint.rs
#	src_testbed/nphysics_backend.rs
#	src_testbed/physx_backend.rs
#	src_testbed/testbed.rs
This commit is contained in:
Crozet Sébastien
2021-01-22 16:10:24 +01:00
parent 800b35b103 e6fc8f67fa
commit cf52e01308
24 changed files with 359 additions and 356 deletions
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12
examples2d/add_remove2.rs
View File

@@ -10,7 +10,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rad = 0.5;
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |window, physics, _, graphics, _| {
testbed.add_callback(move |mut window, mut graphics, physics, _, _| {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0)
.build();
@@ -19,7 +19,10 @@ pub fn init_world(testbed: &mut Testbed) {
physics
.colliders
.insert(collider, handle, &mut physics.bodies);
graphics.add(window, handle, &physics.bodies, &physics.colliders);
if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
graphics.add(*window, handle, &physics.bodies, &physics.colliders);
}
let to_remove: Vec<_> = physics
.bodies
@@ -31,7 +34,10 @@ pub fn init_world(testbed: &mut Testbed) {
physics
.bodies
.remove(handle, &mut physics.colliders, &mut physics.joints);
graphics.remove_body_nodes(window, handle);
if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
graphics.remove_body_nodes(*window, handle);
}
}
});

6
examples2d/platform2.rs
View File

@@ -60,13 +60,13 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a callback to control the platform.
*/
testbed.add_callback(move |_, physics, _, _, time| {
testbed.add_callback(move |_, _, physics, _, run_state| {
let platform = physics.bodies.get_mut(platform_handle).unwrap();
let mut next_pos = *platform.position();
let dt = 0.016;
next_pos.translation.vector.y += (time * 5.0).sin() * dt;
next_pos.translation.vector.x += time.sin() * 5.0 * dt;
next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
next_pos.translation.vector.x += run_state.time.sin() * 5.0 * dt;
if next_pos.translation.vector.x >= rad * 10.0 {
next_pos.translation.vector.x -= dt;

15
examples2d/sensor2.rs
View File

@@ -69,7 +69,7 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |_, physics, events, graphics, _| {
testbed.add_callback(move |_, mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
Point3::new(1.0, 1.0, 0.0)
@@ -79,12 +79,13 @@ pub fn init_world(testbed: &mut Testbed) {
let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
}
if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
graphics.set_body_color(parent_handle2, color);
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
}
if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
graphics.set_body_color(parent_handle2, color);
}
}
}
});