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

Joint API and joint motors improvements

Browse Source
This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
benchmarks2d/balls2.rs
View File

@@ -48,11 +48,9 @@ pub fn init_world(testbed: &mut Testbed) {
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x, y])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

20
benchmarks2d/boxes2.rs
View File

@@ -15,25 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 2.0])
.build();
.translation(vector![ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 2.0])
.build();
.translation(vector![-ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -52,11 +50,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

20
benchmarks2d/capsules2.rs
View File

@@ -15,25 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 4.0])
.build();
.translation(vector![ground_size, ground_size * 4.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 4.0])
.build();
.translation(vector![-ground_size, ground_size * 4.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -54,11 +52,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

20
benchmarks2d/convex_polygons2.rs
View File

@@ -17,25 +17,23 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 30.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 2.0])
.build();
.translation(vector![ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 2.0])
.build();
.translation(vector![-ground_size, ground_size * 2.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -57,9 +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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();
@@ -69,7 +65,7 @@ pub fn init_world(testbed: &mut Testbed) {
points.push(pt * scale);
}
let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
let collider = ColliderBuilder::convex_hull(&points).unwrap();
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

12
benchmarks2d/heightfield2.rs
View File

@@ -25,9 +25,9 @@ pub fn init_world(testbed: &mut Testbed) {
}
});
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size).build();
let collider = ColliderBuilder::heightfield(heights, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -46,16 +46,14 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

11
benchmarks2d/joint_ball2.rs
View File

@@ -32,17 +32,16 @@ pub fn init_world(testbed: &mut Testbed) {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, -fi * shift])
.build();
let rigid_body =
RigidBodyBuilder::new(status).translation(vector![fk * shift, -fi * shift]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = RevoluteJoint::new().local_anchor2(point![0.0, shift]);
let joint = RevoluteJointBuilder::new().local_anchor2(point![0.0, shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -50,7 +49,7 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index];
let joint = RevoluteJoint::new().local_anchor2(point![-shift, 0.0]);
let joint = RevoluteJointBuilder::new().local_anchor2(point![-shift, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}

13
benchmarks2d/joint_fixed2.rs
View File

@@ -38,17 +38,16 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x + fk * shift, y - fi * shift])
.build();
.translation(vector![x + fk * shift, y - fi * shift]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint =
FixedJoint::new().local_frame2(Isometry::translation(0.0, shift));
let joint = FixedJointBuilder::new()
.local_frame2(Isometry::translation(0.0, shift));
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -56,8 +55,8 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint =
FixedJoint::new().local_frame2(Isometry::translation(-shift, 0.0));
let joint = FixedJointBuilder::new()
.local_frame2(Isometry::translation(-shift, 0.0));
impulse_joints.insert(parent_handle, child_handle, joint);
}

16
benchmarks2d/joint_prismatic2.rs
View File

@@ -24,21 +24,17 @@ 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])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![x, y]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).density(density).build();
let collider = ColliderBuilder::cuboid(rad, rad).density(density);
colliders.insert_with_parent(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
@@ -47,9 +43,9 @@ pub fn init_world(testbed: &mut Testbed) {
UnitVector::new_normalize(vector![-1.0, 1.0])
};
let prism = PrismaticJoint::new(axis)
let prism = PrismaticJointBuilder::new(axis)
.local_anchor2(point![0.0, shift])
.limit_axis([-1.5, 1.5]);
.limits([-1.5, 1.5]);
impulse_joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child;

10
benchmarks2d/pyramid2.rs
View File

@@ -16,9 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.0;
let ground_thickness = 1.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
@@ -39,11 +39,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}