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Joint API and joint motors improvements

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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
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6
benchmarks3d/balls3.rs
View File

@@ -36,11 +36,9 @@ pub fn init_world(testbed: &mut Testbed) {
let density = 0.477;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x, y, z])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).density(density).build();
let collider = ColliderBuilder::ball(rad).density(density);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

12
benchmarks3d/boxes3.rs
View File

@@ -16,11 +16,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -44,11 +42,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

12
benchmarks3d/capsules3.rs
View File

@@ -16,11 +16,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -45,11 +43,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad, rad).build();
let collider = ColliderBuilder::capsule_y(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

11
benchmarks3d/ccd3.rs
View File

@@ -16,11 +16,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -50,8 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.linvel(vector![0.0, -1000.0, 0.0])
.ccd_enabled(true)
.build();
.ccd_enabled(true);
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {
@@ -64,7 +61,7 @@ pub fn init_world(testbed: &mut Testbed) {
_ => ColliderBuilder::capsule_y(rad, rad),
};
colliders.insert_with_parent(collider.build(), handle, &mut bodies);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

28
benchmarks3d/compound3.rs
View File

@@ -16,11 +16,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -44,17 +42,19 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(vector![rad * 10.0, rad * 10.0, 0.0])
.build();
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(vector![-rad * 10.0, rad * 10.0, 0.0])
.build();
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad);
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad).translation(vector![
rad * 10.0,
rad * 10.0,
0.0
]);
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad).translation(vector![
-rad * 10.0,
rad * 10.0,
0.0
]);
colliders.insert_with_parent(collider1, handle, &mut bodies);
colliders.insert_with_parent(collider2, handle, &mut bodies);
colliders.insert_with_parent(collider3, handle, &mut bodies);

14
benchmarks3d/convex_polyhedron3.rs
View File

@@ -18,11 +18,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -57,13 +55,9 @@ pub fn init_world(testbed: &mut Testbed) {
}
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
.unwrap()
.build();
let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

12
benchmarks3d/heightfield3.rs
View File

@@ -31,9 +31,9 @@ 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);
/*
@@ -55,16 +55,14 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, 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
benchmarks3d/joint_ball3.rs
View File

@@ -27,17 +27,16 @@ pub fn init_world(testbed: &mut Testbed) {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, 0.0, fi * shift])
.build();
let rigid_body =
RigidBodyBuilder::new(status).translation(vector![fk * shift, 0.0, 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 = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift]);
let joint = SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -45,7 +44,7 @@ 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 = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}

16
benchmarks3d/joint_fixed3.rs
View File

@@ -40,17 +40,20 @@ pub fn init_world(testbed: &mut Testbed) {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x + fk * shift, y, z + fi * shift])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
x + fk * shift,
y,
z + 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_anchor2(point![0.0, 0.0, -shift]);
let joint =
FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -58,7 +61,8 @@ 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_anchor2(point![-shift, 0.0, 0.0]);
let joint =
FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}

18
benchmarks3d/joint_prismatic3.rs
View File

@@ -23,23 +23,17 @@ 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, z])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![x, y, z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
colliders.insert_with_parent(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
@@ -48,9 +42,9 @@ pub fn init_world(testbed: &mut Testbed) {
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let prism = PrismaticJoint::new(axis)
let prism = PrismaticJointBuilder::new(axis)
.local_anchor2(point![0.0, 0.0, -shift])
.limit_axis([-2.0, 0.0]);
.limits([-2.0, 0.0]);
impulse_joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child;

22
benchmarks3d/joint_revolute3.rs
View File

@@ -20,11 +20,9 @@ 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])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![x, y, 0.0]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
for i in 0..num {
@@ -40,13 +38,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]);
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
colliders.insert_with_parent(collider, handles[k], &mut bodies);
}
@@ -55,10 +49,10 @@ pub fn init_world(testbed: &mut Testbed) {
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![shift, 0.0, 0.0]),
RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJointBuilder::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJointBuilder::new(x).local_anchor2(point![shift, 0.0, 0.0]),
];
impulse_joints.insert(curr_parent, handles[0], revs[0]);

34
benchmarks3d/keva3.rs
View File

@@ -38,15 +38,13 @@ pub fn build_block(
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z
])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z
]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
@@ -61,15 +59,13 @@ 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![
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
])
.build();
let rigid_body = RigidBodyBuilder::new_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
]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build();
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z);
colliders.insert_with_parent(collider, handle, bodies);
testbed.set_initial_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
@@ -92,11 +88,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*

12
benchmarks3d/pyramid3.rs
View File

@@ -22,13 +22,11 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let rigid_body_handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, rigid_body_handle, bodies);
}
}
@@ -50,11 +48,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().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).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*

24
benchmarks3d/stacks3.rs
View File

@@ -23,10 +23,9 @@ fn create_tower_circle(
* Translation::new(0.0, y, radius);
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos);
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
}
}
@@ -50,12 +49,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_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).build();
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
}
}
@@ -83,12 +79,10 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_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).build();
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
}
}
@@ -110,11 +104,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*

12
benchmarks3d/trimesh3.rs
View File

@@ -36,9 +36,9 @@ 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().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices).build();
let collider = ColliderBuilder::trimesh(vertices, indices);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -60,16 +60,14 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, 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);
}
}