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

12
examples2d/add_remove2.rs
View File

@@ -14,11 +14,9 @@ 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)
.build();
let rigid_body = RigidBodyBuilder::new_kinematic_position_based().translation(pos);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
handle
})
@@ -35,11 +33,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let handle = physics.bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad);
physics
.colliders
.insert_with_parent(collider, handle, &mut physics.bodies);

27
examples2d/ccd2.rs
View File

@@ -16,27 +16,24 @@ 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).build();
let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true);
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);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![-3.0, 0.0])
.build();
let collider =
ColliderBuilder::cuboid(ground_thickness, ground_size).translation(vector![-3.0, 0.0]);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![6.0, 0.0])
.build();
let collider =
ColliderBuilder::cuboid(ground_thickness, ground_size).translation(vector![6.0, 0.0]);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![2.5, 0.0])
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
.active_events(ActiveEvents::INTERSECTION_EVENTS);
let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
@@ -72,19 +69,18 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.linvel(vector![100.0, -10.0])
.ccd_enabled(true)
.build();
.ccd_enabled(true);
let handle = bodies.insert(rigid_body);
// for part in &compound_parts {
// let collider = ColliderBuilder::new(part.1.clone())
// .position_wrt_parent(part.0)
// .build();
// ;
// colliders.insert_with_parent(collider, handle, &mut bodies);
// }
let collider = ColliderBuilder::new(compound_shape.clone()).build();
// let collider = ColliderBuilder::cuboid(radx, rady).build();
let collider = ColliderBuilder::new(compound_shape.clone());
// let collider = ColliderBuilder::cuboid(radx, rady);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -114,6 +110,7 @@ pub fn init_world(testbed: &mut Testbed) {
if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
}
if parent_handle2 != ground_handle && prox.collider2 != sensor_handle {
graphics.set_body_color(parent_handle2, color);
}

20
examples2d/collision_groups2.rs
View File

@@ -16,11 +16,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
/*
@@ -34,8 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
.translation(vector![0.0, 1.0])
.collision_groups(GREEN_GROUP)
.build();
.collision_groups(GREEN_GROUP);
let green_collider_handle =
colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
@@ -46,8 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
.translation(vector![0.0, 2.0])
.collision_groups(BLUE_GROUP)
.build();
.collision_groups(BLUE_GROUP);
let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
@@ -74,13 +70,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad)
.collision_groups(group)
.build();
let collider = ColliderBuilder::cuboid(rad, rad).collision_groups(group);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, color);

20
examples2d/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);
}
}

5
examples2d/damping2.rs
View File

@@ -27,12 +27,11 @@ pub fn init_world(testbed: &mut Testbed) {
.linvel(vector![x * 10.0, y * 10.0])
.angvel(100.0)
.linear_damping((i + 1) as f32 * subdiv * 10.0)
.angular_damping((num - i) as f32 * subdiv * 10.0)
.build();
.angular_damping((num - i) as f32 * subdiv * 10.0);
let rb_handle = bodies.insert(rb);
// Build the collider.
let co = ColliderBuilder::cuboid(rad, rad).build();
let co = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(co, rb_handle, &mut bodies);
}

10
examples2d/debug_box_ball2.rs
View File

@@ -16,19 +16,17 @@ pub fn init_world(testbed: &mut Testbed) {
let rad = 1.0;
let rigid_body = RigidBodyBuilder::new_static()
.translation(vector![0.0, -rad])
.rotation(std::f32::consts::PI / 4.0)
.build();
.rotation(std::f32::consts::PI / 4.0);
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);
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 3.0 * rad])
.can_sleep(false)
.build();
.can_sleep(false);
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);
/*

12
examples2d/drum2.rs
View File

@@ -26,11 +26,9 @@ 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])
.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);
}
}
@@ -38,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based().build();
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based();
let velocity_based_platform_handle = bodies.insert(platform_body);
let sides = [
@@ -55,11 +53,11 @@ pub fn init_world(testbed: &mut Testbed) {
];
for (hx, hy, pos) in sides {
let collider = ColliderBuilder::cuboid(hx, hy).translation(pos).build();
let collider = ColliderBuilder::cuboid(hx, hy).translation(pos);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
}
for (r, pos) in balls {
let collider = ColliderBuilder::ball(r).translation(pos).build();
let collider = ColliderBuilder::ball(r).translation(pos);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
}

12
examples2d/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
examples2d/joints2.rs
View File

@@ -35,17 +35,16 @@ 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);
}
@@ -53,7 +52,7 @@ 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);
}

16
examples2d/locked_rotations2.rs
View File

@@ -19,11 +19,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -31,10 +29,9 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 3.0])
.lock_translations()
.build();
.lock_translations();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 0.6).build();
let collider = ColliderBuilder::cuboid(2.0, 0.6);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -43,10 +40,9 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 5.0])
.rotation(1.0)
.lock_rotations()
.build();
.lock_rotations();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
let collider = ColliderBuilder::capsule_y(0.6, 0.4);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*

14
examples2d/one_way_platforms2.rs
View File

@@ -68,18 +68,16 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(25.0, 0.5)
.translation(vector![30.0, 2.0])
.active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS)
.build();
.active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS);
let platform1 = colliders.insert_with_parent(collider, handle, &mut bodies);
let collider = ColliderBuilder::cuboid(25.0, 0.5)
.translation(vector![-30.0, -2.0])
.active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS)
.build();
.active_hooks(ActiveHooks::MODIFY_SOLVER_CONTACTS);
let platform2 = colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -97,10 +95,8 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.add_callback(move |graphics, physics, _, run_state| {
if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
// Spawn a new cube.
let collider = ColliderBuilder::cuboid(1.5, 2.0).build();
let body = RigidBodyBuilder::new_dynamic()
.translation(vector![20.0, 10.0])
.build();
let collider = ColliderBuilder::cuboid(1.5, 2.0);
let body = RigidBodyBuilder::new_dynamic().translation(vector![20.0, 10.0]);
let handle = physics.bodies.insert(body);
physics
.colliders

22
examples2d/platform2.rs
View File

@@ -16,11 +16,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -39,11 +37,9 @@ 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])
.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);
}
}
@@ -52,20 +48,18 @@ 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])
.build();
.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).build();
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based()
.translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8])
.build();
.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).build();
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
/*

12
examples2d/polyline2.rs
View File

@@ -27,9 +27,9 @@ pub fn init_world(testbed: &mut Testbed) {
}
points.push(point![ground_size / 2.0, 40.0]);
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::polyline(points, None).build();
let collider = ColliderBuilder::polyline(points, None);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -48,16 +48,14 @@ 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);
}
}

10
examples2d/pyramid2.rs
View File

@@ -16,9 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 10.0;
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);
}
}

15
examples2d/restitution2.rs
View File

@@ -16,13 +16,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height)
.restitution(1.0)
.build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height).restitution(1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
let num = 10;
@@ -32,12 +28,9 @@ pub fn init_world(testbed: &mut Testbed) {
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)])
.build();
.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))
.build();
let collider = ColliderBuilder::ball(rad).restitution((i as f32) / (num as f32));
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

21
examples2d/sensor2.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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
@@ -37,11 +35,9 @@ 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])
.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);
testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
@@ -52,14 +48,12 @@ 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])
.build();
let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0]);
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which
// other colliders can touch.
let collider = ColliderBuilder::cuboid(rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't
@@ -67,8 +61,7 @@ pub fn init_world(testbed: &mut Testbed) {
let sensor_collider = ColliderBuilder::ball(rad * 5.0)
.density(0.0)
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
.active_events(ActiveEvents::INTERSECTION_EVENTS);
colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);

20
examples2d/trimesh2.rs
View File

@@ -21,25 +21,23 @@ 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])
.build();
.translation(vector![ground_size, ground_size]);
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])
.build();
.translation(vector![-ground_size, ground_size]);
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);
/*
@@ -86,12 +84,10 @@ pub fn init_world(testbed: &mut Testbed) {
.collect();
for k in 0..5 {
let collider =
ColliderBuilder::trimesh(vertices.clone(), indices.clone()).build();
let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone());
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0])
.rotation(angle)
.build();
.rotation(angle);
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider, handle, &mut bodies);
}