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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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228
examples3d/articulations3.rs
View File

@@ -13,20 +13,17 @@ 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])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.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, 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])
.build();
let rigid_body =
RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
@@ -35,10 +32,10 @@ fn create_prismatic_joints(
UnitVector::new_normalize(vector![-1.0f32, 1.0, 0.0])
};
let prism = PrismaticJoint::new(axis)
let prism = PrismaticJointBuilder::new(axis)
.local_anchor1(point![0.0, 0.0, 0.0])
.local_anchor2(point![0.0, 0.0, -shift])
.limit_axis([-2.0, 2.0]);
.limits([-2.0, 2.0]);
if use_articulations {
multibody_joints.insert(curr_parent, curr_child, prism);
@@ -61,20 +58,17 @@ 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])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.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, 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])
.build();
let rigid_body =
RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
@@ -83,26 +77,29 @@ fn create_actuated_prismatic_joints(
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let mut prism = PrismaticJoint::new(axis)
.local_anchor1(point![0.0, 0.0, 0.0])
.local_anchor2(point![0.0, 0.0, -shift]);
let mut prism = PrismaticJointBuilder::new(axis)
.local_anchor1(point![0.0, 0.0, shift])
.local_anchor2(point![0.0, 0.0, 0.0])
.build();
if i == 1 {
prism = prism
.limit_axis([-Real::MAX, 5.0])
.motor_velocity(1.0, 1.0)
if i == 0 {
prism
.set_motor_velocity(2.0, 1.0e5)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(1.0);
.set_limits([-2.0, 5.0])
.set_motor_max_force(100.0);
} else if i == 1 {
prism
.set_limits([-Real::MAX, 5.0])
.set_motor_velocity(6.0, 1.0e3)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.set_motor_max_force(100.0);
} else if i > 1 {
prism = prism.motor_position(2.0, 0.01, 1.0);
} else {
prism = prism
.motor_velocity(1.0, 1.0)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(0.7)
.limit_axis([-2.0, 5.0]);
prism
.set_motor_position(2.0, 1.0e3, 1.0e2)
.set_motor_max_force(60.0);
}
if use_articulations {
@@ -127,11 +124,9 @@ 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])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.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, bodies);
for i in 0..num {
@@ -146,11 +141,9 @@ fn create_revolute_joints(
let mut handles = [curr_parent; 4];
for k in 0..4 {
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).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handles[k], bodies);
}
@@ -158,10 +151,10 @@ fn create_revolute_joints(
let x = Vector::x_axis();
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]),
];
if use_articulations {
@@ -188,37 +181,18 @@ fn create_revolute_joints_with_limits(
origin: Point<f32>,
use_articulations: bool,
) {
let ground = bodies.insert(
RigidBodyBuilder::new_static()
.translation(origin.coords)
.build(),
);
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let platform1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(),
platform1,
bodies,
);
let platform1 = bodies.insert(RigidBodyBuilder::new_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)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(),
platform2,
bodies,
);
let platform2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift));
colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform2, bodies);
let z = Vector::z_axis();
let joint1 = RevoluteJoint::new(z).limit_axis([-0.2, 0.2]);
let joint1 = RevoluteJointBuilder::new(z).limits([-0.2, 0.2]);
if use_articulations {
multibody_joints.insert(ground, platform1, joint1);
@@ -226,9 +200,9 @@ fn create_revolute_joints_with_limits(
impulse_joints.insert(ground, platform1, joint1);
}
let joint2 = RevoluteJoint::new(z)
let joint2 = RevoluteJointBuilder::new(z)
.local_anchor2(-Point::from(shift))
.limit_axis([-0.2, 0.2]);
.limits([-0.2, 0.2]);
if use_articulations {
multibody_joints.insert(platform1, platform2, joint2);
@@ -238,23 +212,20 @@ 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])
.build(),
RigidBodyBuilder::new_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).build(),
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
cuboid_body1,
bodies,
);
let cuboid_body2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift + vector![2.0, 16.0, 0.0])
.build(),
.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).build(),
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
cuboid_body2,
bodies,
);
@@ -288,22 +259,20 @@ fn create_fixed_joints(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![
origin.x + fk * shift,
origin.y,
origin.z + fi * shift
])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
origin.x + fk * shift,
origin.y,
origin.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, bodies);
// Vertical joint.
if i > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = FixedJoint::new().local_anchor2(point![0.0, 0.0, -shift]);
let joint = FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
@@ -316,7 +285,7 @@ fn create_fixed_joints(
if k > 0 {
let parent_index = body_handles.len() - 1;
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);
}
@@ -349,17 +318,20 @@ fn create_spherical_joints(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
fk * shift,
0.0,
fi * shift * 2.0
]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad);
colliders.insert_with_parent(collider, child_handle, 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 * 2.0]);
let joint =
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
@@ -372,7 +344,7 @@ fn create_spherical_joints(
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);
}
@@ -391,44 +363,28 @@ 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)
.build(),
);
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ball1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift)
.linvel(vector![20.0, 20.0, 0.0])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(),
ball1,
bodies,
.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)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(),
ball2,
bodies,
);
let ball2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift * 2.0));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball2, bodies);
let joint1 = SphericalJoint::new()
let joint1 = SphericalJointBuilder::new()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.2, 0.2])
.limit_axis(JointAxis::Y, [-0.2, 0.2]);
.limits(JointAxis::X, [-0.2, 0.2])
.limits(JointAxis::Y, [-0.2, 0.2]);
let joint2 = SphericalJoint::new()
let joint2 = SphericalJointBuilder::new()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.3, 0.3])
.limit_axis(JointAxis::Y, [-0.3, 0.3]);
.limits(JointAxis::X, [-0.3, 0.3])
.limits(JointAxis::Y, [-0.3, 0.3]);
if use_articulations {
multibody_joints.insert(ground, ball1, joint1);
@@ -453,7 +409,7 @@ fn create_actuated_revolute_joints(
// We will reuse this base configuration for all the impulse_joints here.
let z = Vector::z_axis();
let joint_template = RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]);
let joint_template = RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]);
let mut parent_handle = RigidBodyHandle::invalid();
@@ -474,27 +430,27 @@ fn create_actuated_revolute_joints(
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
;
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build();
let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad);
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {
let mut joint = joint_template.clone();
let mut joint = joint_template.motor_model(MotorModel::AccelerationBased);
if i % 3 == 1 {
joint = joint.motor_velocity(-20.0, 0.1);
joint = joint.motor_velocity(-20.0, 100.0);
} else if i == num - 1 {
let stiffness = 0.2;
let damping = 1.0;
let stiffness = 200.0;
let damping = 100.0;
joint = joint.motor_position(3.14 / 2.0, stiffness, damping);
}
if i == 1 {
joint = joint
.local_anchor2(point![0.0, 2.0, -shift])
.motor_velocity(-2.0, 0.1);
.motor_velocity(-2.0, 100.0);
}
if use_articulations {
@@ -521,7 +477,7 @@ fn create_actuated_spherical_joints(
let shift = 2.0;
// We will reuse this base configuration for all the impulse_joints here.
let joint_template = SphericalJoint::new().local_anchor1(point![0.0, 0.0, shift]);
let joint_template = SphericalJointBuilder::new().local_anchor1(point![0.0, 0.0, shift]);
let mut parent_handle = RigidBodyHandle::invalid();
@@ -540,10 +496,10 @@ fn create_actuated_spherical_joints(
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![origin.x, origin.y, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
;
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build();
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad);
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {

24
examples3d/ccd3.rs
View File

@@ -21,12 +21,9 @@ 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);
k += 1;
if k % 2 == 0 {
@@ -53,11 +50,9 @@ 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);
/*
@@ -97,23 +92,20 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::ball(1.0)
.density(10.0)
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
.active_events(ActiveEvents::INTERSECTION_EVENTS);
let rigid_body = RigidBodyBuilder::new_dynamic()
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, 0.0])
.ccd_enabled(true)
.build();
.ccd_enabled(true);
let sensor_handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// Second rigid-body with CCD enabled.
let collider = ColliderBuilder::ball(1.0).density(10.0).build();
let collider = ColliderBuilder::ball(1.0).density(10.0);
let rigid_body = RigidBodyBuilder::new_dynamic()
.linvel(vector![1000.0, 0.0, 0.0])
.translation(vector![-20.0, shift_y + 2.0, shift_z])
.ccd_enabled(true)
.build();
.ccd_enabled(true);
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
testbed.set_initial_body_color(handle, [0.2, 0.2, 1.0]);

20
examples3d/collision_groups3.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, 0.0])
.build();
let rigid_body = RigidBodyBuilder::new_static().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).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
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, 1.0)
.translation(vector![0.0, 1.0, 0.0])
.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, 1.0)
.translation(vector![0.0, 2.0, 0.0])
.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]);
@@ -77,13 +73,9 @@ 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, 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)
.collision_groups(group)
.build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).collision_groups(group);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, color);

20
examples3d/compound3.rs
View File

@@ -16,11 +16,9 @@ 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);
/*
@@ -45,20 +43,16 @@ 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);
// First option: attach several colliders to a single rigid-body.
if j < numy / 2 {
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).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])
.build();
.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])
.build();
.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);
@@ -79,7 +73,7 @@ pub fn init_world(testbed: &mut Testbed) {
),
];
let collider = ColliderBuilder::compound(shapes).build();
let collider = ColliderBuilder::compound(shapes);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

12
examples3d/convex_decomposition3.rs
View File

@@ -24,11 +24,9 @@ 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);
/*
@@ -88,13 +86,11 @@ 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])
.build();
let body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(body);
for shape in &shapes {
let collider = ColliderBuilder::new(shape.clone()).build();
let collider = ColliderBuilder::new(shape.clone());
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}

14
examples3d/convex_polyhedron3.rs
View File

@@ -18,11 +18,9 @@ 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])
.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);
/*
@@ -54,13 +52,9 @@ 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);
}
}

5
examples3d/damping3.rs
View File

@@ -27,12 +27,11 @@ pub fn init_world(testbed: &mut Testbed) {
.linvel(vector![x * 10.0, y * 10.0, 0.0])
.angvel(Vector::z() * 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, rad).build();
let co = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(co, rb_handle, &mut bodies);
}

12
examples3d/debug_add_remove_collider3.rs
View File

@@ -16,11 +16,9 @@ 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])
.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, 0.4).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4);
let mut ground_collider_handle =
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
@@ -28,11 +26,9 @@ 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])
.build();
let rb = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 0.2, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
testbed.add_callback(move |_, physics, _, _| {

23
examples3d/debug_articulations3.rs
View File

@@ -25,17 +25,20 @@ fn create_ball_articulations(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
fk * shift,
0.0,
fi * shift * 2.0
]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad);
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical multibody_joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
let joint =
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
multibody_joints.insert(parent_handle, child_handle, joint);
}
@@ -43,7 +46,7 @@ fn create_ball_articulations(
if k > 0 && i > 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]);
// let joint =
// PrismaticJoint::new(Vector::y_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
// let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
@@ -68,15 +71,13 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.02, 0.0])
.rotation(vector![0.1, 0.0, 0.1])
.build();
.rotation(vector![0.1, 0.0, 0.1]);
colliders.insert(collider);
let rigid_body = RigidBodyBuilder::new_dynamic().build();
let rigid_body = RigidBodyBuilder::new_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])
.build();
.rotation(vector![0.1, 0.0, 0.1]);
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider, handle, &mut bodies);

10
examples3d/debug_big_colliders3.rs
View File

@@ -13,10 +13,10 @@ 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 halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis()));
let collider = ColliderBuilder::new(halfspace).build();
let collider = ColliderBuilder::new(halfspace);
colliders.insert_with_parent(collider, handle, &mut bodies);
let mut curr_y = 0.0;
@@ -26,11 +26,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_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).build();
let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width);
colliders.insert_with_parent(collider, handle, &mut bodies);
curr_width /= 5.0;

12
examples3d/debug_boxes3.rs
View File

@@ -17,11 +17,10 @@ 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])
.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);
}
@@ -30,10 +29,9 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![1.1, 0.0, 0.0])
// .rotation(vector![0.8, 0.2, 0.1])
.can_sleep(false)
.build();
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build();
let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
}

12
examples3d/debug_cylinder3.rs
View File

@@ -19,11 +19,9 @@ 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);
/*
@@ -46,11 +44,9 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cylinder(rad, rad).build();
let collider = ColliderBuilder::cylinder(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*

18
examples3d/debug_dynamic_collider_add3.rs
View File

@@ -16,14 +16,12 @@ 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])
.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, 0.4)
.friction(0.15)
// .restitution(0.5)
.build();
;
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
@@ -32,10 +30,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0])
.build();
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector::zeros();
@@ -49,9 +46,7 @@ pub fn init_world(testbed: &mut Testbed) {
step += 1;
// Add a bigger ball collider
let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32))
.density(100.0)
.build();
let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)).density(100.0);
let new_ball_collider_handle =
physics
.colliders
@@ -99,8 +94,7 @@ pub fn init_world(testbed: &mut Testbed) {
// .remove(ground_collider_handle, &mut physics.bodies, true)
// .unwrap();
let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
.friction(0.15)
.build();
.friction(0.15);
let new_ground_collider_handle =
physics
.colliders

11
examples3d/debug_friction3.rs
View File

@@ -16,20 +16,17 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.0;
let ground_height = 0.1;
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, ground_height, ground_size)
.friction(1.5)
.build();
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()
.translation(vector![0.0, 1.1, 0.0])
.rotation(Vector::y() * 0.3)
.build();
.rotation(Vector::y() * 0.3);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5).build();
let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = &mut bodies[handle];

16
examples3d/debug_infinite_fall3.rs
View File

@@ -16,29 +16,25 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 4.0, 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);
let rad = 1.0;
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 7.0 * rad, 0.0])
.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);
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 2.0 * rad, 0.0])
.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);
/*

56
examples3d/debug_prismatic3.rs
View File

@@ -7,16 +7,12 @@ fn prismatic_repro(
impulse_joints: &mut ImpulseJointSet,
box_center: Point<f32>,
) {
let box_rb = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(vector![box_center.x, box_center.y, box_center.z])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
box_rb,
bodies,
);
let box_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
box_center.x,
box_center.y,
box_center.z
]));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 0.25, 1.0), box_rb, bodies);
let wheel_y = -1.0;
let wheel_positions = vec![
@@ -28,36 +24,28 @@ 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![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
])
.build(),
);
colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
let wheel_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
]));
colliders.insert_with_parent(ColliderBuilder::ball(0.5), wheel_rb, bodies);
let (stiffness, damping) = (0.05, 0.2);
let prismatic = PrismaticJoint::new(Vector::y_axis())
let prismatic = PrismaticJointBuilder::new(Vector::y_axis())
.local_anchor1(point![pos.x, pos.y, pos.z])
.motor_position(0.0, stiffness, damping);
impulse_joints.insert(box_rb, wheel_rb, prismatic);
}
// put a small box under one of the wheels
let gravel = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
gravel,
bodies,
);
let gravel = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
box_center.x + 1.0,
box_center.y - 2.4,
-1.0
]));
colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.1, 0.5), gravel, bodies);
}
pub fn init_world(testbed: &mut Testbed) {
@@ -75,11 +63,9 @@ 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);
prismatic_repro(

11
examples3d/debug_rollback3.rs
View File

@@ -16,14 +16,12 @@ 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])
.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, 0.4)
.friction(0.15)
// .restitution(0.5)
.build();
;
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
@@ -32,10 +30,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0])
.build();
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector::zeros();

25
examples3d/debug_shape_modification3.rs
View File

@@ -16,14 +16,12 @@ 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])
.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)
.friction(0.15)
// .restitution(0.5)
.build();
;
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
@@ -32,10 +30,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0])
.build();
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
let ball_coll_handle = colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector::zeros();
@@ -90,19 +87,17 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
0 => ColliderBuilder::cuboid(rad, rad, rad),
1 => ColliderBuilder::ball(rad),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
3 => ColliderBuilder::cone(rad, rad).build(),
_ => ColliderBuilder::capsule_y(rad, rad).build(),
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
3 => ColliderBuilder::cone(rad, rad),
_ => ColliderBuilder::capsule_y(rad, rad),
};
colliders.insert_with_parent(collider, handle, &mut bodies);

11
examples3d/debug_triangle3.rs
View File

@@ -17,21 +17,18 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]).build();
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()
.translation(vector![1.1, 0.01, 0.0])
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false)
.build();
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).build();
let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*

11
examples3d/debug_trimesh3.rs
View File

@@ -41,17 +41,14 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 35.0, 0.0])
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false)
.build();
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0).build();
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])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vtx, idx).build();
let collider = ColliderBuilder::trimesh(vtx, idx);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);

10
examples3d/domino3.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);
/*
@@ -55,9 +53,9 @@ 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).build();
let rigid_body = RigidBodyBuilder::new_dynamic().position(position);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build();
let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, colors[i % 2]);
} else {

16
examples3d/fountain3.rs
View File

@@ -17,23 +17,19 @@ 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])
.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);
// 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])
.build();
let rigid_body = RigidBodyBuilder::new_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).build(),
1 => ColliderBuilder::cone(rad, rad).build(),
_ => ColliderBuilder::cuboid(rad, rad, rad).build(),
0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
1 => ColliderBuilder::cone(rad, rad),
_ => ColliderBuilder::cuboid(rad, rad, rad),
};
physics

12
examples3d/harness_capsules3.rs
View File

@@ -16,11 +16,9 @@ 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])
.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(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])
.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);
}
}

20
examples3d/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);
/*
@@ -55,19 +55,17 @@ 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);
let collider = match j % 6 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
0 => ColliderBuilder::cuboid(rad, rad, rad),
1 => ColliderBuilder::ball(rad),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
3 => ColliderBuilder::cone(rad, rad).build(),
4 => ColliderBuilder::capsule_y(rad, rad).build(),
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
3 => ColliderBuilder::cone(rad, rad),
4 => ColliderBuilder::capsule_y(rad, rad),
_ => {
let shapes = vec![
(
@@ -84,7 +82,7 @@ pub fn init_world(testbed: &mut Testbed) {
),
];
ColliderBuilder::compound(shapes).build()
ColliderBuilder::compound(shapes)
}
};

282
examples3d/joints3.rs
View File

@@ -11,20 +11,17 @@ 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])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.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, 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])
.build();
let rigid_body =
RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
@@ -33,10 +30,10 @@ fn create_prismatic_joints(
UnitVector::new_normalize(vector![-1.0f32, 1.0, 0.0])
};
let mut prism = JointData::prismatic(axis)
let mut prism = GenericJoint::prismatic(axis)
.local_anchor1(point![0.0, 0.0, shift])
.local_anchor2(point![0.0, 0.0, 0.0])
.limit_axis(JointAxis::X, [-2.0, 2.0]);
.limits(JointAxis::X, [-2.0, 2.0]);
impulse_joints.insert(curr_parent, curr_child, prism);
@@ -54,20 +51,17 @@ 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])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.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, 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])
.build();
let rigid_body =
RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_child, bodies);
let axis = if i % 2 == 0 {
@@ -76,13 +70,13 @@ fn create_actuated_prismatic_joints(
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let mut prism = JointData::prismatic(axis)
let mut prism = GenericJoint::prismatic(axis)
.local_anchor1(point![0.0, 0.0, 0.0])
.local_anchor2(point![0.0, 0.0, -shift]);
if i == 1 {
prism = prism
.limit_axis(JointAxis::X, [-Real::MAX, 5.0])
.limits(JointAxis::X, [-Real::MAX, 5.0])
.motor_velocity(JointAxis::X, 1.0, 1.0)
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
@@ -95,7 +89,7 @@ fn create_actuated_prismatic_joints(
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
.motor_max_impulse(JointAxis::X, 0.7)
.limit_axis(JointAxis::X, [-2.0, 5.0]);
.limits(JointAxis::X, [-2.0, 5.0]);
}
impulse_joints.insert(curr_parent, curr_child, prism);
@@ -114,11 +108,9 @@ 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])
.build();
let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.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, bodies);
for i in 0..num {
@@ -133,11 +125,9 @@ fn create_revolute_joints(
let mut handles = [curr_parent; 4];
for k in 0..4 {
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).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handles[k], bodies);
}
@@ -166,63 +156,41 @@ fn create_revolute_joints_with_limits(
impulse_joints: &mut ImpulseJointSet,
origin: Point<f32>,
) {
let ground = bodies.insert(
RigidBodyBuilder::new_static()
.translation(origin.coords)
.build(),
);
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let platform1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(),
platform1,
bodies,
);
let platform1 = bodies.insert(RigidBodyBuilder::new_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)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(),
platform2,
bodies,
);
let platform2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift));
colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform2, bodies);
let z = Vector::z_axis();
let mut joint1 = RevoluteJoint::new(z).limit_axis(JointAxis::X, [-0.2, 0.2]);
let mut joint1 = RevoluteJoint::new(z).limits(JointAxis::X, [-0.2, 0.2]);
impulse_joints.insert(ground, platform1, joint1);
let mut joint2 = RevoluteJoint::new(z)
.local_anchor2(shift.into())
.limit_axis(JointAxis::Z, [-0.2, 0.2]);
.limits(JointAxis::Z, [-0.2, 0.2]);
impulse_joints.insert(platform1, platform2, joint2);
// 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])
.build(),
RigidBodyBuilder::new_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).build(),
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
cuboid_body1,
bodies,
);
let cuboid_body2 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift + vector![2.0, 16.0, 0.0])
.build(),
.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).build(),
ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
cuboid_body2,
bodies,
);
@@ -254,22 +222,20 @@ fn create_fixed_joints(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![
origin.x + fk * shift,
origin.y,
origin.z + fi * shift
])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
origin.x + fk * shift,
origin.y,
origin.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, bodies);
// Vertical joint.
if i > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = JointData::fixed().local_anchor2(point![0.0, 0.0, -shift]);
let joint = GenericJoint::fixed().local_anchor2(point![0.0, 0.0, -shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -277,7 +243,7 @@ fn create_fixed_joints(
if k > 0 {
let parent_index = body_handles.len() - 1;
let parent_handle = body_handles[parent_index];
let joint = JointData::fixed().local_anchor2(point![-shift, 0.0, 0.0]);
let joint = GenericJoint::fixed().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -308,17 +274,19 @@ fn create_ball_joints(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
fk * shift,
0.0,
fi * shift * 2.0
]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad);
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = JointData::ball().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
let joint = GenericJoint::ball().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -326,7 +294,7 @@ fn create_ball_joints(
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = JointData::ball().local_anchor2(point![-shift, 0.0, 0.0]);
let joint = GenericJoint::ball().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -343,45 +311,29 @@ fn create_ball_joints_with_limits(
) {
let shift = vector![0.0, 0.0, 3.0];
let ground = bodies.insert(
RigidBodyBuilder::new_static()
.translation(origin.coords)
.build(),
);
let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
let ball1 = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(origin.coords + shift)
.linvel(vector![20.0, 20.0, 0.0])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(),
ball1,
bodies,
.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)
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(),
ball2,
bodies,
);
let ball2 =
bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift * 2.0));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball2, bodies);
let mut joint1 = JointData::ball()
let mut joint1 = GenericJoint::ball()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.2, 0.2])
.limit_axis(JointAxis::Y, [-0.2, 0.2]);
.limits(JointAxis::X, [-0.2, 0.2])
.limits(JointAxis::Y, [-0.2, 0.2]);
impulse_joints.insert(ground, ball1, joint1);
let mut joint2 = JointData::ball()
let mut joint2 = GenericJoint::ball()
.local_anchor2(Point::from(-shift))
.limit_axis(JointAxis::X, [-0.3, 0.3])
.limit_axis(JointAxis::Y, [-0.3, 0.3]);
.limits(JointAxis::X, [-0.3, 0.3])
.limits(JointAxis::Y, [-0.3, 0.3]);
impulse_joints.insert(ball1, ball2, joint2);
}
@@ -418,26 +370,28 @@ fn create_actuated_revolute_joints(
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
;
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build();
let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad);
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {
let mut joint = joint_template.clone();
let mut joint = joint_template
.clone()
.motor_model(MotorModel::AccelerationBased);
if i % 3 == 1 {
joint = joint.motor_velocity(JointAxis::AngX, -20.0, 0.1);
joint.set_motor_velocity(JointAxis::AngX, -20.0, 0.1);
} else if i == num - 1 {
let stiffness = 0.2;
let damping = 1.0;
joint = joint.motor_position(JointAxis::AngX, 3.14 / 2.0, stiffness, damping);
jointset_.motor_position(JointAxis::AngX, 3.14 / 2.0, stiffness, damping);
}
if i == 1 {
joint.local_frame2.translation.vector.y = 2.0;
joint = joint.motor_velocity(JointAxis::AngX, -2.0, 0.1);
joint.set_motor_velocity(JointAxis::AngX, -2.0, 0.1);
}
impulse_joints.insert(parent_handle, child_handle, joint);
@@ -458,7 +412,7 @@ fn create_actuated_ball_joints(
let shift = 2.0;
// We will reuse this base configuration for all the impulse_joints here.
let joint_template = JointData::ball().local_anchor1(point![0.0, 0.0, shift]);
let joint_template = GenericJoint::ball().local_anchor1(point![0.0, 0.0, shift]);
let mut parent_handle = RigidBodyHandle::invalid();
@@ -477,10 +431,10 @@ fn create_actuated_ball_joints(
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![origin.x, origin.y, origin.z + fi * shift])
// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
.build();
;
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build();
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad);
colliders.insert_with_parent(collider, child_handle, bodies);
if i > 0 {
@@ -516,40 +470,40 @@ pub fn init_world(testbed: &mut Testbed) {
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
create_prismatic_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![20.0, 5.0, 0.0],
4,
);
create_actuated_prismatic_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![25.0, 5.0, 0.0],
4,
);
create_revolute_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![20.0, 0.0, 0.0],
3,
);
create_revolute_joints_with_limits(
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![34.0, 0.0, 0.0],
);
create_fixed_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![0.0, 10.0, 0.0],
10,
);
// create_prismatic_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// point![20.0, 5.0, 0.0],
// 4,
// );
// create_actuated_prismatic_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// point![25.0, 5.0, 0.0],
// 4,
// );
// create_revolute_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// point![20.0, 0.0, 0.0],
// 3,
// );
// create_revolute_joints_with_limits(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// point![34.0, 0.0, 0.0],
// );
// create_fixed_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// point![0.0, 10.0, 0.0],
// 10,
// );
create_actuated_revolute_joints(
&mut bodies,
&mut colliders,
@@ -557,20 +511,20 @@ pub fn init_world(testbed: &mut Testbed) {
point![20.0, 10.0, 0.0],
6,
);
create_actuated_ball_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![13.0, 10.0, 0.0],
3,
);
create_ball_joints(&mut bodies, &mut colliders, &mut impulse_joints, 15);
create_ball_joints_with_limits(
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![-5.0, 0.0, 0.0],
);
// create_actuated_ball_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// point![13.0, 10.0, 0.0],
// 3,
// );
// create_ball_joints(&mut bodies, &mut colliders, &mut impulse_joints, 15);
// create_ball_joints_with_limits(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// point![-5.0, 0.0, 0.0],
// );
/*
* Set up the testbed.

34
examples3d/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);
/*

18
examples3d/locked_rotations3.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, 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);
/*
@@ -32,10 +30,9 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 3.0, 0.0])
.lock_translations()
.restrict_rotations(true, false, false)
.build();
.restrict_rotations(true, false, false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();
let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -44,12 +41,11 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 5.0, 0.0])
.rotation(Vector::x() * 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);
let collider = ColliderBuilder::capsule_x(0.6, 0.4).build();
let collider = ColliderBuilder::capsule_x(0.6, 0.4);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*

14
examples3d/one_way_platforms3.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(9.0, 0.5, 25.0)
.translation(vector![0.0, 2.0, 30.0])
.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(9.0, 0.5, 25.0)
.translation(vector![0.0, -2.0, -30.0])
.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(1.0, 2.0, 1.5).build();
let body = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 6.0, 20.0])
.build();
let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.5);
let body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 6.0, 20.0]);
let handle = physics.bodies.insert(body);
physics
.colliders

32
examples3d/platform3.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, 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);
/*
@@ -42,11 +40,9 @@ 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);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -55,21 +51,25 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
.translation(vector![0.0, 1.5 + 0.8, -10.0 * rad])
.build();
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based().translation(vector![
0.0,
1.5 + 0.8,
-10.0 * rad
]);
let velocity_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based()
.translation(vector![0.0, 2.0 + 1.5 + 0.8, -10.0 * rad])
.build();
let platform_body = RigidBodyBuilder::new_kinematic_position_based().translation(vector![
0.0,
2.0 + 1.5 + 0.8,
-10.0 * rad
]);
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
/*

20
examples3d/primitives3.rs
View File

@@ -16,11 +16,9 @@ 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])
.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);
/*
@@ -46,19 +44,17 @@ 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])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {
// _ => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// _ => ColliderBuilder::cuboid(rad, rad, rad),
1 => ColliderBuilder::ball(rad),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
3 => ColliderBuilder::cone(rad, rad).build(),
_ => ColliderBuilder::capsule_y(rad, rad).build(),
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
3 => ColliderBuilder::cone(rad, rad),
_ => ColliderBuilder::capsule_y(rad, rad),
};
colliders.insert_with_parent(collider, handle, &mut bodies);

20
examples3d/restitution3.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, 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, 2.0)
.restitution(1.0)
.build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 2.0).restitution(1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
let num = 10;
@@ -31,13 +27,13 @@ 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), 0.0])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![
x * 2.0,
10.0 * (j as f32 + 1.0),
0.0
]);
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
examples3d/sensor3.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 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);
/*
@@ -40,11 +38,9 @@ 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);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
@@ -56,14 +52,12 @@ pub fn init_world(testbed: &mut Testbed) {
*/
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic()
.translation(vector![0.0, 5.0, 0.0])
.build();
let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 5.0, 0.0]);
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which
// other colliders can touch.
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't
@@ -71,8 +65,7 @@ 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
examples3d/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);
/*
@@ -60,19 +60,17 @@ 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);
let collider = match j % 6 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
0 => ColliderBuilder::cuboid(rad, rad, rad),
1 => ColliderBuilder::ball(rad),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
3 => ColliderBuilder::cone(rad, rad).build(),
4 => ColliderBuilder::capsule_y(rad, rad).build(),
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
3 => ColliderBuilder::cone(rad, rad),
4 => ColliderBuilder::capsule_y(rad, rad),
_ => {
let shapes = vec![
(
@@ -89,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
),
];
ColliderBuilder::compound(shapes).build()
ColliderBuilder::compound(shapes)
}
};