feat: add a vertical wall to the 2D and 3D character controller examples

examples2d/character_controller2.rs

@@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(vector![-3.0, 5.0]);
     let character_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(0.15, 0.3);
+    let collider = ColliderBuilder::capsule_y(0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
 
     /*
@@ -94,14 +94,18 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let wall_angle = PI / 2.;
     let wall_size = 2.0;
-    let collider = ColliderBuilder::cuboid(wall_size, ground_height)
+    let wall_pos = vector![
-        .translation(vector![
         ground_size + slope_size * 2.0 + impossible_slope_size + 0.35,
         -ground_height + 2.5 * 2.3
-        ])
+    ];
+    let collider = ColliderBuilder::cuboid(wall_size, ground_height)
+        .translation(wall_pos)
         .rotation(wall_angle);
     colliders.insert(collider);
 
+    let collider = ColliderBuilder::cuboid(wall_size, ground_height).translation(wall_pos);
+    colliders.insert(collider);
+
     /*
      * Create a moving platform.
      */

examples3d/character_controller3.rs

@@ -13,21 +13,37 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Ground
      */
+    let scale = 1.0; // Set to a larger value to check if it still works with larger units.
     let ground_size = 5.0;
     let ground_height = 0.1;
 
-    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+    let rigid_body =
+        RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0] * scale);
     let floor_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+    let collider = ColliderBuilder::cuboid(
+        ground_size * scale,
+        ground_height * scale,
+        ground_size * scale,
+    );
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
+
+    let rigid_body =
+        RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, -ground_size] * scale); //.rotation(vector![-0.1, 0.0, 0.0]);
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(
+        ground_size * scale,
+        ground_size * scale,
+        ground_height * scale,
+    );
     colliders.insert_with_parent(collider, floor_handle, &mut bodies);
 
     /*
      * Character we will control manually.
      */
     let rigid_body =
-        RigidBodyBuilder::kinematic_position_based().translation(vector![-3.0, 5.0, 0.0]);
+        RigidBodyBuilder::kinematic_position_based().translation(vector![-3.0, 5.0, 0.0] * scale);
     let character_handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::capsule_y(0.3, 0.15); // 0.15, 0.3, 0.15);
+    let collider = ColliderBuilder::capsule_y(0.3 * scale, 0.15 * scale); // 0.15, 0.3, 0.15);
     colliders.insert_with_parent(collider, character_handle, &mut bodies);
 
     /*
@@ -47,9 +63,9 @@ pub fn init_world(testbed: &mut Testbed) {
                 let y = j as f32 * shift + centery;
                 let z = k as f32 * shift + centerx;
 
-                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z] * scale);
                 let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::cuboid(rad, rad, rad);
+                let collider = ColliderBuilder::cuboid(rad * scale, rad * scale, rad * scale);
                 colliders.insert_with_parent(collider, handle, &mut bodies);
             }
         }
@@ -64,8 +80,12 @@ pub fn init_world(testbed: &mut Testbed) {
         let x = i as f32 * stair_width / 2.0;
         let y = i as f32 * stair_height * 1.5 + 3.0;
 
-        let collider = ColliderBuilder::cuboid(stair_width / 2.0, stair_height / 2.0, stair_width)
+        let collider = ColliderBuilder::cuboid(
-            .translation(vector![x, y, 0.0]);
+            stair_width / 2.0 * scale,
+            stair_height / 2.0 * scale,
+            stair_width * scale,
+        )
+        .translation(vector![x * scale, y * scale, 0.0]);
         colliders.insert(collider);
     }
 
@@ -74,8 +94,12 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let slope_angle = 0.2;
     let slope_size = 2.0;
-    let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
+    let collider = ColliderBuilder::cuboid(
-        .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
+        slope_size * scale,
+        ground_height * scale,
+        slope_size * scale,
+    )
+    .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0] * scale)
     .rotation(Vector::z() * slope_angle);
     colliders.insert(collider);
 
@@ -84,22 +108,29 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let impossible_slope_angle = 0.9;
     let impossible_slope_size = 2.0;
-    let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
+    let collider = ColliderBuilder::cuboid(
-        .translation(vector![
+        slope_size * scale,
+        ground_height * scale,
+        ground_size * scale,
+    )
+    .translation(
+        vector![
             ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
             -ground_height + 2.3,
             0.0
-        ])
+        ] * scale,
+    )
     .rotation(Vector::z() * impossible_slope_angle);
     colliders.insert(collider);
 
     /*
      * Create a moving platform.
      */
-    let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]);
+    let body =
+        RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0] * scale);
     // .rotation(-0.3);
     let platform_handle = bodies.insert(body);
-    let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0);
+    let collider = ColliderBuilder::cuboid(2.0 * scale, ground_height * scale, 2.0 * scale);
     colliders.insert_with_parent(collider, platform_handle, &mut bodies);
 
     /*
@@ -113,18 +144,18 @@ pub fn init_world(testbed: &mut Testbed) {
             + (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
     });
 
-    let collider =
+    let collider = ColliderBuilder::heightfield(heights, ground_size * scale)
-        ColliderBuilder::heightfield(heights, ground_size).translation(vector![-8.0, 5.0, 0.0]);
+        .translation(vector![-8.0, 5.0, 0.0] * scale);
     colliders.insert(collider);
 
     /*
      * A tilting dynamic body with a limited joint.
      */
-    let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]);
+    let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0] * scale);
     let ground_handle = bodies.insert(ground);
-    let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
+    let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0] * scale);
     let handle = bodies.insert(body);
-    let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0);
+    let collider = ColliderBuilder::cuboid(1.0 * scale, 0.1 * scale, 2.0 * scale);
     colliders.insert_with_parent(collider, handle, &mut bodies);
     let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]);
     impulse_joints.insert(ground_handle, handle, joint, true);
@@ -137,7 +168,7 @@ pub fn init_world(testbed: &mut Testbed) {
             (run_state.time * 2.0).sin() * 2.0,
             (run_state.time * 5.0).sin() * 1.5,
             0.0
-        ];
+        ] * scale;
         // let angvel = run_state.time.sin() * 0.5;
 
         // Update the velocity-based kinematic body by setting its velocity.