From ff2da7fb27f0ea7a15b1dc6b6daf763fe7faf13b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= Date: Sun, 6 Sep 2020 12:16:09 +0200 Subject: [PATCH] Move benchmark demos into their own directory. --- Cargo.toml | 4 +- benchmarks3d/Cargo.toml | 27 +++ benchmarks3d/all_benchmarks3.rs | 91 +++++++++ benchmarks3d/balls3.rs | 58 ++++++ {examples3d => benchmarks3d}/boxes3.rs | 2 +- {examples3d => benchmarks3d}/capsules3.rs | 2 +- benchmarks3d/compound3.rs | 76 +++++++ benchmarks3d/heightfield3.rs | 78 +++++++ .../joint_ball3.rs | 2 +- .../joint_fixed3.rs | 2 +- .../joint_prismatic3.rs | 0 .../joint_revolute3.rs | 0 .../stress_keva3.rs => benchmarks3d/keva3.rs | 8 +- {examples3d => benchmarks3d}/pyramid3.rs | 4 +- benchmarks3d/stacks3.rs | 191 ++++++++++++++++++ benchmarks3d/trimesh3.rs | 88 ++++++++ examples2d/add_remove2.rs | 2 +- examples2d/balls2.rs | 2 +- examples2d/boxes2.rs | 2 +- examples2d/capsules2.rs | 4 +- examples2d/debug_box_ball2.rs | 2 +- examples2d/heightfield2.rs | 4 +- examples2d/joints2.rs | 2 +- examples2d/kinematic2.rs | 6 +- examples2d/pyramid2.rs | 2 +- examples2d/sensor2.rs | 4 +- examples2d/stress_joint_ball2.rs | 2 +- examples2d/stress_joint_fixed2.rs | 2 +- examples3d/add_remove3.rs | 2 +- examples3d/all_examples3.rs | 32 +-- examples3d/balls3.rs | 29 --- examples3d/compound3.rs | 4 +- examples3d/debug_boxes3.rs | 2 +- examples3d/debug_triangle3.rs | 2 +- examples3d/domino3.rs | 4 +- examples3d/heightfield3.rs | 8 +- examples3d/joints3.rs | 4 +- examples3d/keva3.rs | 144 +++++++++++++ examples3d/{kinematic3.rs => platform3.rs} | 6 +- examples3d/primitives3.rs | 75 +++++++ examples3d/sensor3.rs | 6 +- examples3d/stacks3.rs | 36 +--- examples3d/trimesh3.rs | 8 +- src/geometry/collider.rs | 16 +- 44 files changed, 897 insertions(+), 148 deletions(-) create mode 100644 benchmarks3d/Cargo.toml create mode 100644 benchmarks3d/all_benchmarks3.rs create mode 100644 benchmarks3d/balls3.rs rename {examples3d => benchmarks3d}/boxes3.rs (98%) rename {examples3d => benchmarks3d}/capsules3.rs (98%) create mode 100644 benchmarks3d/compound3.rs create mode 100644 benchmarks3d/heightfield3.rs rename examples3d/stress_joint_ball3.rs => benchmarks3d/joint_ball3.rs (96%) rename examples3d/stress_joint_fixed3.rs => benchmarks3d/joint_fixed3.rs (99%) rename examples3d/stress_joint_prismatic3.rs => benchmarks3d/joint_prismatic3.rs (100%) rename examples3d/stress_joint_revolute3.rs => benchmarks3d/joint_revolute3.rs (100%) rename examples3d/stress_keva3.rs => benchmarks3d/keva3.rs (97%) rename {examples3d => benchmarks3d}/pyramid3.rs (96%) create mode 100644 benchmarks3d/stacks3.rs create mode 100644 benchmarks3d/trimesh3.rs delete mode 100644 examples3d/balls3.rs create mode 100644 examples3d/keva3.rs rename examples3d/{kinematic3.rs => platform3.rs} (97%) create mode 100644 examples3d/primitives3.rs diff --git a/Cargo.toml b/Cargo.toml index a766033..100b8bb 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -1,12 +1,12 @@ [workspace] members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d", - "build/rapier3d", "build/rapier_testbed3d", "examples3d" ] + "build/rapier3d", "build/rapier_testbed3d", "examples3d", "benchmarks3d" ] [patch.crates-io] #wrapped2d = { git = "https://github.com/Bastacyclop/rust_box2d.git" } [profile.release] -debug = false +debug = true codegen-units = 1 #opt-level = 1 #lto = true diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml new file mode 100644 index 0000000..81c843a --- /dev/null +++ b/benchmarks3d/Cargo.toml @@ -0,0 +1,27 @@ +[package] +name = "rapier-benchmarks-3d" +version = "0.1.0" +authors = [ "Sébastien Crozet " ] +edition = "2018" + +[features] +parallel = [ "rapier3d/parallel", "rapier_testbed3d/parallel" ] +simd-stable = [ "rapier3d/simd-stable" ] +simd-nightly = [ "rapier3d/simd-nightly" ] +other-backends = [ "rapier_testbed3d/other-backends" ] +enhanced-determinism = [ "rapier3d/enhanced-determinism" ] + +[dependencies] +rand = "0.7" +Inflector = "0.11" +nalgebra = "0.22" + +[dependencies.rapier_testbed3d] +path = "../build/rapier_testbed3d" + +[dependencies.rapier3d] +path = "../build/rapier3d" + +[[bin]] +name = "all_benchmarks3" +path = "all_benchmarks3.rs" diff --git a/benchmarks3d/all_benchmarks3.rs b/benchmarks3d/all_benchmarks3.rs new file mode 100644 index 0000000..dfbbc51 --- /dev/null +++ b/benchmarks3d/all_benchmarks3.rs @@ -0,0 +1,91 @@ +#![allow(dead_code)] + +extern crate nalgebra as na; + +#[cfg(target_arch = "wasm32")] +use wasm_bindgen::prelude::*; + +use inflector::Inflector; + +use rapier_testbed3d::Testbed; +use std::cmp::Ordering; + +mod balls3; +mod boxes3; +mod capsules3; +mod compound3; +mod heightfield3; +mod joint_ball3; +mod joint_fixed3; +mod joint_prismatic3; +mod joint_revolute3; +mod keva3; +mod pyramid3; +mod stacks3; +mod trimesh3; + +enum Command { + Run(String), + List, + RunAll, +} + +fn parse_command_line() -> Command { + let mut args = std::env::args(); + + while let Some(arg) = args.next() { + if &arg[..] == "--example" { + return Command::Run(args.next().unwrap_or(String::new())); + } else if &arg[..] == "--list" { + return Command::List; + } + } + + Command::RunAll +} + +pub fn main() { + let command = parse_command_line(); + + let mut builders: Vec<(_, fn(&mut Testbed))> = vec![ + ("Balls", balls3::init_world), + ("Boxes", boxes3::init_world), + ("Capsules", capsules3::init_world), + ("Compound", compound3::init_world), + ("Heightfield", heightfield3::init_world), + ("Stacks", stacks3::init_world), + ("Pyramid", pyramid3::init_world), + ("Trimesh", trimesh3::init_world), + ("Joint ball", joint_ball3::init_world), + ("Joint fixed", joint_fixed3::init_world), + ("Joint revolute", joint_revolute3::init_world), + ("Joint prismatic", joint_prismatic3::init_world), + ("Keva tower", keva3::init_world), + ]; + + // Lexicographic sort, with stress tests moved at the end of the list. + builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) { + (true, true) | (false, false) => a.0.cmp(b.0), + (true, false) => Ordering::Greater, + (false, true) => Ordering::Less, + }); + + match command { + Command::Run(demo) => { + if let Some(i) = builders + .iter() + .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str()) + { + Testbed::from_builders(0, vec![builders[i]]).run() + } else { + eprintln!("Invalid example to run provided: '{}'", demo); + } + } + Command::RunAll => Testbed::from_builders(0, builders).run(), + Command::List => { + for builder in &builders { + println!("{}", builder.0.to_camel_case()) + } + } + } +} diff --git a/benchmarks3d/balls3.rs b/benchmarks3d/balls3.rs new file mode 100644 index 0000000..bdbe75e --- /dev/null +++ b/benchmarks3d/balls3.rs @@ -0,0 +1,58 @@ +use na::Point3; +use rapier3d::dynamics::{BodyStatus, JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Create the balls + */ + let num = 20; + let rad = 1.0; + + let shift = rad * 2.0 + 1.0; + let centerx = shift * (num as f32) / 2.0; + let centery = shift / 2.0; + let centerz = shift * (num as f32) / 2.0; + + for i in 0..num { + for j in 0usize..num { + for k in 0..num { + let x = i as f32 * shift - centerx; + let y = j as f32 * shift + centery; + let z = k as f32 * shift - centerz; + + let status = if j == 0 { + BodyStatus::Static + } else { + BodyStatus::Dynamic + }; + let density = 0.477; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new(status).translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::ball(rad).density(density).build(); + colliders.insert(collider, handle, &mut bodies); + } + } + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]); + testbed.run() +} diff --git a/examples3d/boxes3.rs b/benchmarks3d/boxes3.rs similarity index 98% rename from examples3d/boxes3.rs rename to benchmarks3d/boxes3.rs index eb8a472..0eb31f5 100644 --- a/examples3d/boxes3.rs +++ b/benchmarks3d/boxes3.rs @@ -47,7 +47,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/examples3d/capsules3.rs b/benchmarks3d/capsules3.rs similarity index 98% rename from examples3d/capsules3.rs rename to benchmarks3d/capsules3.rs index e6aad40..0e8ad94 100644 --- a/examples3d/capsules3.rs +++ b/benchmarks3d/capsules3.rs @@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_y(rad, rad).density(1.0).build(); + let collider = ColliderBuilder::capsule_y(rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/benchmarks3d/compound3.rs b/benchmarks3d/compound3.rs new file mode 100644 index 0000000..a8a9939 --- /dev/null +++ b/benchmarks3d/compound3.rs @@ -0,0 +1,76 @@ +use na::Point3; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let ground_size = 200.1; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::new_static() + .translation(0.0, -ground_height, 0.0) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Create the cubes + */ + let num = 8; + let rad = 0.2; + + let shift = rad * 4.0 + rad; + let centerx = shift * (num / 2) as f32; + let centery = shift / 2.0; + let centerz = shift * (num / 2) as f32; + + let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; + + for j in 0usize..25 { + for i in 0..num { + for k in 0usize..num { + let x = i as f32 * shift * 5.0 - centerx + offset; + let y = j as f32 * (shift * 5.0) + centery + 3.0; + let z = k as f32 * shift * 2.0 - centerz + offset; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build(); + let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad) + .translation(rad * 10.0, rad * 10.0, 0.0) + .build(); + let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad) + .translation(-rad * 10.0, rad * 10.0, 0.0) + .build(); + colliders.insert(collider1, handle, &mut bodies); + colliders.insert(collider2, handle, &mut bodies); + colliders.insert(collider3, handle, &mut bodies); + } + } + + offset -= 0.05 * rad * (num as f32 - 1.0); + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/benchmarks3d/heightfield3.rs b/benchmarks3d/heightfield3.rs new file mode 100644 index 0000000..4f8211c --- /dev/null +++ b/benchmarks3d/heightfield3.rs @@ -0,0 +1,78 @@ +use na::{DMatrix, Point3, Vector3}; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let ground_size = Vector3::new(200.0, 1.0, 200.0); + let nsubdivs = 20; + + let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| { + if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs { + 10.0 + } else { + let x = i as f32 * ground_size.x / (nsubdivs as f32); + let z = j as f32 * ground_size.z / (nsubdivs as f32); + x.sin() + z.cos() + } + }); + + let rigid_body = RigidBodyBuilder::new_static().build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::heightfield(heights, ground_size).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Create the cubes + */ + let num = 8; + let rad = 1.0; + + let shift = rad * 2.0 + rad; + let centerx = shift * (num / 2) as f32; + let centery = shift / 2.0; + let centerz = shift * (num / 2) as f32; + + for j in 0usize..47 { + for i in 0..num { + for k in 0usize..num { + let x = i as f32 * shift - centerx; + let y = j as f32 * shift + centery + 3.0; + let z = k as f32 * shift - centerz; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + + if j % 2 == 0 { + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + colliders.insert(collider, handle, &mut bodies); + } else { + let collider = ColliderBuilder::ball(rad).build(); + colliders.insert(collider, handle, &mut bodies); + } + } + } + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples3d/stress_joint_ball3.rs b/benchmarks3d/joint_ball3.rs similarity index 96% rename from examples3d/stress_joint_ball3.rs rename to benchmarks3d/joint_ball3.rs index bbff217..fee32a2 100644 --- a/examples3d/stress_joint_ball3.rs +++ b/benchmarks3d/joint_ball3.rs @@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(fk * shift, 0.0, fi * shift) .build(); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, child_handle, &mut bodies); // Vertical joint. diff --git a/examples3d/stress_joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs similarity index 99% rename from examples3d/stress_joint_fixed3.rs rename to benchmarks3d/joint_fixed3.rs index b85879d..c8912e7 100644 --- a/examples3d/stress_joint_fixed3.rs +++ b/benchmarks3d/joint_fixed3.rs @@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(x + fk * shift, y, z + fi * shift) .build(); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, child_handle, &mut bodies); // Vertical joint. diff --git a/examples3d/stress_joint_prismatic3.rs b/benchmarks3d/joint_prismatic3.rs similarity index 100% rename from examples3d/stress_joint_prismatic3.rs rename to benchmarks3d/joint_prismatic3.rs diff --git a/examples3d/stress_joint_revolute3.rs b/benchmarks3d/joint_revolute3.rs similarity index 100% rename from examples3d/stress_joint_revolute3.rs rename to benchmarks3d/joint_revolute3.rs diff --git a/examples3d/stress_keva3.rs b/benchmarks3d/keva3.rs similarity index 97% rename from examples3d/stress_keva3.rs rename to benchmarks3d/keva3.rs index 2a41e47..6862f25 100644 --- a/examples3d/stress_keva3.rs +++ b/benchmarks3d/keva3.rs @@ -48,9 +48,7 @@ pub fn build_block( ) .build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z) - .density(1.0) - .build(); + let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build(); colliders.insert(collider, handle, bodies); testbed.set_body_color(handle, color0); @@ -73,9 +71,7 @@ pub fn build_block( ) .build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z) - .density(1.0) - .build(); + let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build(); colliders.insert(collider, handle, bodies); testbed.set_body_color(handle, color0); std::mem::swap(&mut color0, &mut color1); diff --git a/examples3d/pyramid3.rs b/benchmarks3d/pyramid3.rs similarity index 96% rename from examples3d/pyramid3.rs rename to benchmarks3d/pyramid3.rs index e2aae39..5b6f34e 100644 --- a/examples3d/pyramid3.rs +++ b/benchmarks3d/pyramid3.rs @@ -28,9 +28,7 @@ fn create_pyramid( let rigid_body_handle = bodies.insert(rigid_body); let collider = - ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z) - .density(1.0) - .build(); + ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); colliders.insert(collider, rigid_body_handle, bodies); } } diff --git a/benchmarks3d/stacks3.rs b/benchmarks3d/stacks3.rs new file mode 100644 index 0000000..435dcb5 --- /dev/null +++ b/benchmarks3d/stacks3.rs @@ -0,0 +1,191 @@ +use na::{Point3, Translation3, UnitQuaternion, Vector3}; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::Testbed; + +fn create_tower_circle( + bodies: &mut RigidBodySet, + colliders: &mut ColliderSet, + offset: Vector3, + stack_height: usize, + nsubdivs: usize, + half_extents: Vector3, +) { + let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32; + let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI; + + let shift = half_extents * 2.0; + for i in 0usize..stack_height { + for j in 0..nsubdivs { + let fj = j as f32; + let fi = i as f32; + let y = fi * shift.y; + let pos = Translation3::from(offset) + * UnitQuaternion::new(Vector3::y() * (fi / 2.0 + fj) * ang_step) + * Translation3::new(0.0, y, radius); + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build(); + let handle = bodies.insert(rigid_body); + let collider = + ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); + colliders.insert(collider, handle, bodies); + } + } +} + +fn create_wall( + bodies: &mut RigidBodySet, + colliders: &mut ColliderSet, + offset: Vector3, + stack_height: usize, + half_extents: Vector3, +) { + let shift = half_extents * 2.0; + for i in 0usize..stack_height { + for j in i..stack_height { + let fj = j as f32; + let fi = i as f32; + let x = offset.x; + let y = fi * shift.y + offset.y; + let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z + - stack_height as f32 * half_extents.z; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + let collider = + ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); + colliders.insert(collider, handle, bodies); + } + } +} + +fn create_pyramid( + bodies: &mut RigidBodySet, + colliders: &mut ColliderSet, + offset: Vector3, + stack_height: usize, + half_extents: Vector3, +) { + let shift = half_extents * 2.0; + + for i in 0usize..stack_height { + for j in i..stack_height { + for k in i..stack_height { + let fi = i as f32; + let fj = j as f32; + let fk = k as f32; + let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x + - stack_height as f32 * half_extents.x; + let y = fi * shift.y + offset.y; + let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z + - stack_height as f32 * half_extents.z; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + let collider = + ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); + colliders.insert(collider, handle, bodies); + } + } + } +} + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let ground_size = 200.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::new_static() + .translation(0.0, -ground_height, 0.0) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Create the cubes + */ + let cube_size = 1.0; + let hext = Vector3::repeat(cube_size); + let bottomy = cube_size * 50.0; + create_pyramid( + &mut bodies, + &mut colliders, + Vector3::new(-110.0, bottomy, 0.0), + 12, + hext, + ); + create_pyramid( + &mut bodies, + &mut colliders, + Vector3::new(-80.0, bottomy, 0.0), + 12, + hext, + ); + create_pyramid( + &mut bodies, + &mut colliders, + Vector3::new(-50.0, bottomy, 0.0), + 12, + hext, + ); + create_pyramid( + &mut bodies, + &mut colliders, + Vector3::new(-20.0, bottomy, 0.0), + 12, + hext, + ); + create_wall( + &mut bodies, + &mut colliders, + Vector3::new(-2.0, bottomy, 0.0), + 12, + hext, + ); + create_wall( + &mut bodies, + &mut colliders, + Vector3::new(4.0, bottomy, 0.0), + 12, + hext, + ); + create_wall( + &mut bodies, + &mut colliders, + Vector3::new(10.0, bottomy, 0.0), + 12, + hext, + ); + create_tower_circle( + &mut bodies, + &mut colliders, + Vector3::new(25.0, bottomy, 0.0), + 8, + 24, + hext, + ); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/benchmarks3d/trimesh3.rs b/benchmarks3d/trimesh3.rs new file mode 100644 index 0000000..ce1d1c5 --- /dev/null +++ b/benchmarks3d/trimesh3.rs @@ -0,0 +1,88 @@ +use na::Point3; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let ground_size = 200.0f32; + let ground_height = 1.0; + let nsubdivs = 20; + + let quad = rapier3d::ncollide::procedural::quad(ground_size, ground_size, nsubdivs, nsubdivs); + let indices = quad + .flat_indices() + .chunks(3) + .map(|is| Point3::new(is[0], is[2], is[1])) + .collect(); + let mut vertices = quad.coords; + + // ncollide generates a quad with `z` as the normal. + // so we switch z and y here and set a random altitude at each point. + for p in vertices.iter_mut() { + p.z = p.y; + p.y = (p.x.sin() + p.z.cos()) * ground_height; + + if p.x.abs() == ground_size / 2.0 || p.z.abs() == ground_size / 2.0 { + p.y = 10.0; + } + } + + let rigid_body = RigidBodyBuilder::new_static().build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::trimesh(vertices, indices).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Create the cubes + */ + let num = 8; + let rad = 1.0; + + let shift = rad * 2.0 + rad; + let centerx = shift * (num / 2) as f32; + let centery = shift / 2.0; + let centerz = shift * (num / 2) as f32; + + for j in 0usize..47 { + for i in 0..num { + for k in 0usize..num { + let x = i as f32 * shift - centerx; + let y = j as f32 * shift + centery + 3.0; + let z = k as f32 * shift - centerz; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + + if j % 2 == 0 { + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + colliders.insert(collider, handle, &mut bodies); + } else { + let collider = ColliderBuilder::ball(rad).build(); + colliders.insert(collider, handle, &mut bodies); + } + } + } + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples2d/add_remove2.rs b/examples2d/add_remove2.rs index 49da436..3a32a95 100644 --- a/examples2d/add_remove2.rs +++ b/examples2d/add_remove2.rs @@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(0.0, 10.0) .build(); let handle = physics.bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad).build(); physics .colliders .insert(collider, handle, &mut physics.bodies); diff --git a/examples2d/balls2.rs b/examples2d/balls2.rs index 4c85d86..6791505 100644 --- a/examples2d/balls2.rs +++ b/examples2d/balls2.rs @@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/examples2d/boxes2.rs b/examples2d/boxes2.rs index 8b09def..4fb9bf3 100644 --- a/examples2d/boxes2.rs +++ b/examples2d/boxes2.rs @@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/examples2d/capsules2.rs b/examples2d/capsules2.rs index 041edf5..76633bc 100644 --- a/examples2d/capsules2.rs +++ b/examples2d/capsules2.rs @@ -56,9 +56,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_y(rad * 1.5, rad) - .density(1.0) - .build(); + let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/examples2d/debug_box_ball2.rs b/examples2d/debug_box_ball2.rs index 2cc5e45..62933ff 100644 --- a/examples2d/debug_box_ball2.rs +++ b/examples2d/debug_box_ball2.rs @@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) { .can_sleep(false) .build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, handle, &mut bodies); /* diff --git a/examples2d/heightfield2.rs b/examples2d/heightfield2.rs index b03afe3..95fed6c 100644 --- a/examples2d/heightfield2.rs +++ b/examples2d/heightfield2.rs @@ -50,10 +50,10 @@ pub fn init_world(testbed: &mut Testbed) { let handle = bodies.insert(rigid_body); if j % 2 == 0 { - let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } else { - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs index c3df921..888c48b 100644 --- a/examples2d/joints2.rs +++ b/examples2d/joints2.rs @@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(fk * shift, -fi * shift) .build(); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, child_handle, &mut bodies); // Vertical joint. diff --git a/examples2d/kinematic2.rs b/examples2d/kinematic2.rs index c40134b..9540f17 100644 --- a/examples2d/kinematic2.rs +++ b/examples2d/kinematic2.rs @@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } } @@ -54,9 +54,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(-10.0 * rad, 1.5 + 0.8) .build(); let platform_handle = bodies.insert(platform_body); - let collider = ColliderBuilder::cuboid(rad * 10.0, rad) - .density(1.0) - .build(); + let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build(); colliders.insert(collider, platform_handle, &mut bodies); /* diff --git a/examples2d/pyramid2.rs b/examples2d/pyramid2.rs index 4d6fe07..e6a715b 100644 --- a/examples2d/pyramid2.rs +++ b/examples2d/pyramid2.rs @@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/examples2d/sensor2.rs b/examples2d/sensor2.rs index c7e0205..959ecbf 100644 --- a/examples2d/sensor2.rs +++ b/examples2d/sensor2.rs @@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad).build(); colliders.insert(collider, handle, &mut bodies); testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0)); @@ -58,7 +58,7 @@ pub fn init_world(testbed: &mut Testbed) { // Solid cube attached to the sensor which // other colliders can touch. - let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad).build(); colliders.insert(collider, sensor_handle, &mut bodies); // We create a collider desc without density because we don't diff --git a/examples2d/stress_joint_ball2.rs b/examples2d/stress_joint_ball2.rs index 55db1b7..ecfdc47 100644 --- a/examples2d/stress_joint_ball2.rs +++ b/examples2d/stress_joint_ball2.rs @@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(fk * shift, -fi * shift) .build(); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, child_handle, &mut bodies); // Vertical joint. diff --git a/examples2d/stress_joint_fixed2.rs b/examples2d/stress_joint_fixed2.rs index 31b3e4f..32a219e 100644 --- a/examples2d/stress_joint_fixed2.rs +++ b/examples2d/stress_joint_fixed2.rs @@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(x + fk * shift, y - fi * shift) .build(); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, child_handle, &mut bodies); // Vertical joint. diff --git a/examples3d/add_remove3.rs b/examples3d/add_remove3.rs index cf565e0..17aad44 100644 --- a/examples3d/add_remove3.rs +++ b/examples3d/add_remove3.rs @@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(0.0, 10.0, 0.0) .build(); let handle = physics.bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); physics .colliders .insert(collider, handle, &mut physics.bodies); diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 2b89efa..8b0a2fa 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -11,24 +11,17 @@ use rapier_testbed3d::Testbed; use std::cmp::Ordering; mod add_remove3; -mod balls3; -mod boxes3; -mod capsules3; mod compound3; mod debug_boxes3; mod debug_triangle3; mod domino3; mod heightfield3; mod joints3; -mod kinematic3; -mod pyramid3; +mod keva3; +mod platform3; +mod primitives3; mod sensor3; mod stacks3; -mod stress_joint_ball3; -mod stress_joint_fixed3; -mod stress_joint_prismatic3; -mod stress_joint_revolute3; -mod stress_keva3; mod trimesh3; fn demo_name_from_command_line() -> Option { @@ -69,31 +62,18 @@ pub fn main() { let mut builders: Vec<(_, fn(&mut Testbed))> = vec![ ("Add remove", add_remove3::init_world), - ("Balls", balls3::init_world), - ("Boxes", boxes3::init_world), - ("Capsules", capsules3::init_world), + ("Primitives", primitives3::init_world), ("Compound", compound3::init_world), ("Domino", domino3::init_world), ("Heightfield", heightfield3::init_world), ("Joints", joints3::init_world), - ("Kinematic", kinematic3::init_world), + ("Platform", platform3::init_world), ("Stacks", stacks3::init_world), - ("Pyramid", pyramid3::init_world), ("Sensor", sensor3::init_world), ("Trimesh", trimesh3::init_world), + ("Keva tower", keva3::init_world), ("(Debug) boxes", debug_boxes3::init_world), ("(Debug) triangle", debug_triangle3::init_world), - ("(Stress test) joint ball", stress_joint_ball3::init_world), - ("(Stress test) joint fixed", stress_joint_fixed3::init_world), - ( - "(Stress test) joint revolute", - stress_joint_revolute3::init_world, - ), - ( - "(Stress test) joint prismatic", - stress_joint_prismatic3::init_world, - ), - ("(Stress test) keva tower", stress_keva3::init_world), ]; // Lexicographic sort, with stress tests moved at the end of the list. diff --git a/examples3d/balls3.rs b/examples3d/balls3.rs deleted file mode 100644 index df0c21c..0000000 --- a/examples3d/balls3.rs +++ /dev/null @@ -1,29 +0,0 @@ -use na::Point3; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; -use rapier_testbed3d::Testbed; - -pub fn init_world(testbed: &mut Testbed) { - /* - * World - */ - let mut bodies = RigidBodySet::new(); - let mut colliders = ColliderSet::new(); - let joints = JointSet::new(); - - let rb = RigidBodyBuilder::new_dynamic().build(); - let co = ColliderBuilder::cuboid(0.5, 0.5, 0.5).build(); - let h = bodies.insert(rb); - colliders.insert(co, h, &mut bodies); - - /* - * Set up the testbed. - */ - testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); -} - -fn main() { - let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]); - testbed.run() -} diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs index a8a9939..34a654d 100644 --- a/examples3d/compound3.rs +++ b/examples3d/compound3.rs @@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground */ - let ground_size = 200.1; + let ground_size = 50.0; let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() @@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) { let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; - for j in 0usize..25 { + for j in 0usize..15 { for i in 0..num { for k in 0usize..num { let x = i as f32 * shift * 5.0 - centerx + offset; diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs index bd7c344..7237fd9 100644 --- a/examples3d/debug_boxes3.rs +++ b/examples3d/debug_boxes3.rs @@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) { .can_sleep(false) .build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).density(1.0).build(); + let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build(); colliders.insert(collider, handle, &mut bodies); /* diff --git a/examples3d/debug_triangle3.rs b/examples3d/debug_triangle3.rs index c9d7751..42bd06c 100644 --- a/examples3d/debug_triangle3.rs +++ b/examples3d/debug_triangle3.rs @@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) { .can_sleep(false) .build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).density(1.0).build(); + let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).build(); colliders.insert(collider, handle, &mut bodies); /* diff --git a/examples3d/domino3.rs b/examples3d/domino3.rs index a62ba41..66d0f41 100644 --- a/examples3d/domino3.rs +++ b/examples3d/domino3.rs @@ -58,9 +58,7 @@ pub fn init_world(testbed: &mut Testbed) { * rot; let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width) - .density(1.0) - .build(); + let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build(); colliders.insert(collider, handle, &mut bodies); testbed.set_body_color(handle, colors[i % 2]); } else { diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index f9d4e49..09df815 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground */ - let ground_size = Vector3::new(200.0, 1.0, 200.0); + let ground_size = Vector3::new(100.0, 1.0, 100.0); let nsubdivs = 20; let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| { @@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) { let centery = shift / 2.0; let centerz = shift * (num / 2) as f32; - for j in 0usize..47 { + for j in 0usize..20 { for i in 0..num { for k in 0usize..num { let x = i as f32 * shift - centerx; @@ -55,10 +55,10 @@ pub fn init_world(testbed: &mut Testbed) { let handle = bodies.insert(rigid_body); if j % 2 == 0 { - let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } else { - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs index c640770..d4a797a 100644 --- a/examples3d/joints3.rs +++ b/examples3d/joints3.rs @@ -150,7 +150,7 @@ fn create_fixed_joints( .translation(origin.x + fk * shift, origin.y, origin.z + fi * shift) .build(); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, child_handle, bodies); // Vertical joint. @@ -205,7 +205,7 @@ fn create_ball_joints( .translation(fk * shift, 0.0, fi * shift) .build(); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, child_handle, bodies); // Vertical joint. diff --git a/examples3d/keva3.rs b/examples3d/keva3.rs new file mode 100644 index 0000000..6862f25 --- /dev/null +++ b/examples3d/keva3.rs @@ -0,0 +1,144 @@ +use na::{Point3, Vector3}; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::Testbed; + +pub fn build_block( + testbed: &mut Testbed, + bodies: &mut RigidBodySet, + colliders: &mut ColliderSet, + half_extents: Vector3, + shift: Vector3, + mut numx: usize, + numy: usize, + mut numz: usize, +) { + let dimensions = [half_extents.xyz(), half_extents.zyx()]; + let block_width = 2.0 * half_extents.z * numx as f32; + let block_height = 2.0 * half_extents.y * numy as f32; + let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0); + let mut color0 = Point3::new(0.7, 0.5, 0.9); + let mut color1 = Point3::new(0.6, 1.0, 0.6); + + for i in 0..numy { + std::mem::swap(&mut numx, &mut numz); + let dim = dimensions[i % 2]; + let y = dim.y * i as f32 * 2.0; + + for j in 0..numx { + let x = if i % 2 == 0 { + spacing * j as f32 * 2.0 + } else { + dim.x * j as f32 * 2.0 + }; + + for k in 0..numz { + let z = if i % 2 == 0 { + dim.z * k as f32 * 2.0 + } else { + spacing * k as f32 * 2.0 + }; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation( + x + dim.x + shift.x, + y + dim.y + shift.y, + z + dim.z + shift.z, + ) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build(); + colliders.insert(collider, handle, bodies); + + testbed.set_body_color(handle, color0); + std::mem::swap(&mut color0, &mut color1); + } + } + } + + // Close the top. + let dim = half_extents.zxy(); + + 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( + 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 handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z).build(); + colliders.insert(collider, handle, bodies); + testbed.set_body_color(handle, color0); + std::mem::swap(&mut color0, &mut color1); + } + } +} + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let ground_size = 50.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::new_static() + .translation(0.0, -ground_height, 0.0) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Create the cubes + */ + let half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0; + let mut block_height = 0.0; + // These should only be set to odd values otherwise + // the blocks won't align in the nicest way. + let numy = [0, 9, 13, 17, 21, 41]; + let mut num_blocks_built = 0; + + for i in (1..=5).rev() { + let numx = i; + let numy = numy[i]; + let numz = numx * 3 + 1; + let block_width = numx as f32 * half_extents.z * 2.0; + build_block( + testbed, + &mut bodies, + &mut colliders, + half_extents, + Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0), + numx, + numy, + numz, + ); + block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0; + num_blocks_built += numx * numy * numz; + } + + println!("Num keva blocks: {}", num_blocks_built); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples3d/kinematic3.rs b/examples3d/platform3.rs similarity index 97% rename from examples3d/kinematic3.rs rename to examples3d/platform3.rs index a9adc8c..3836baf 100644 --- a/examples3d/kinematic3.rs +++ b/examples3d/platform3.rs @@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } } @@ -58,9 +58,7 @@ pub fn init_world(testbed: &mut Testbed) { .translation(0.0, 1.5 + 0.8, -10.0 * rad) .build(); let platform_handle = bodies.insert(platform_body); - let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0) - .density(1.0) - .build(); + let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build(); colliders.insert(collider, platform_handle, &mut bodies); /* diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs new file mode 100644 index 0000000..cf678b9 --- /dev/null +++ b/examples3d/primitives3.rs @@ -0,0 +1,75 @@ +use na::Point3; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let ground_size = 100.1; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::new_static() + .translation(0.0, -ground_height, 0.0) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Create the cubes + */ + let num = 8; + let rad = 1.0; + + let shift = rad * 2.0 + rad; + let centerx = shift * (num / 2) as f32; + let centery = shift / 2.0; + let centerz = shift * (num / 2) as f32; + + let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; + + for j in 0usize..20 { + for i in 0..num { + for k in 0usize..num { + let x = i as f32 * shift - centerx + offset; + let y = j as f32 * shift + centery + 3.0; + let z = k as f32 * shift - centerz + offset; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + + let collider = match j % 2 { + 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), + 1 => ColliderBuilder::ball(rad).build(), + // 2 => ColliderBuilder::capsule_y(rad, rad).build(), + _ => unreachable!(), + }; + + colliders.insert(collider, handle, &mut bodies); + } + } + + offset -= 0.05 * rad * (num as f32 - 1.0); + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples3d/sensor3.rs b/examples3d/sensor3.rs index 598b0ad..7b218fe 100644 --- a/examples3d/sensor3.rs +++ b/examples3d/sensor3.rs @@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); colliders.insert(collider, handle, &mut bodies); testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0)); @@ -56,13 +56,13 @@ pub fn init_world(testbed: &mut Testbed) { // Rigid body so that the sensor can move. let sensor = RigidBodyBuilder::new_dynamic() - .translation(0.0, 10.0, 0.0) + .translation(0.0, 5.0, 0.0) .build(); let sensor_handle = bodies.insert(sensor); // Solid cube attached to the sensor which // other colliders can touch. - let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); colliders.insert(collider, sensor_handle, &mut bodies); // We create a collider desc without density because we don't diff --git a/examples3d/stacks3.rs b/examples3d/stacks3.rs index fd2ae27..55d58bb 100644 --- a/examples3d/stacks3.rs +++ b/examples3d/stacks3.rs @@ -27,9 +27,8 @@ fn create_tower_circle( // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z) - .density(1.0) - .build(); + let collider = + ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); colliders.insert(collider, handle, bodies); } } @@ -55,9 +54,8 @@ fn create_wall( // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z) - .density(1.0) - .build(); + let collider = + ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); colliders.insert(collider, handle, bodies); } } @@ -88,9 +86,7 @@ fn create_pyramid( let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); let collider = - ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z) - .density(1.0) - .build(); + ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); colliders.insert(collider, handle, bodies); } } @@ -124,27 +120,7 @@ pub fn init_world(testbed: &mut Testbed) { let cube_size = 1.0; let hext = Vector3::repeat(cube_size); let bottomy = cube_size * 50.0; - create_pyramid( - &mut bodies, - &mut colliders, - Vector3::new(-110.0, bottomy, 0.0), - 12, - hext, - ); - create_pyramid( - &mut bodies, - &mut colliders, - Vector3::new(-80.0, bottomy, 0.0), - 12, - hext, - ); - create_pyramid( - &mut bodies, - &mut colliders, - Vector3::new(-50.0, bottomy, 0.0), - 12, - hext, - ); + create_pyramid( &mut bodies, &mut colliders, diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index c8f564b..d022a1f 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground */ - let ground_size = 200.0f32; + let ground_size = 100.0f32; let ground_height = 1.0; let nsubdivs = 20; @@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) { let centery = shift / 2.0; let centerz = shift * (num / 2) as f32; - for j in 0usize..47 { + for j in 0usize..20 { for i in 0..num { for k in 0usize..num { let x = i as f32 * shift - centerx; @@ -65,10 +65,10 @@ pub fn init_world(testbed: &mut Testbed) { let handle = bodies.insert(rigid_body); if j % 2 == 0 { - let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); colliders.insert(collider, handle, &mut bodies); } else { - let collider = ColliderBuilder::ball(rad).density(1.0).build(); + let collider = ColliderBuilder::ball(rad).build(); colliders.insert(collider, handle, &mut bodies); } } diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index aed76c8..2d55857 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -212,7 +212,7 @@ pub struct ColliderBuilder { /// The shape of the collider to be built. pub shape: Shape, /// The density of the collider to be built. - pub density: f32, + density: Option, /// The friction coefficient of the collider to be built. pub friction: f32, /// The restitution coefficient of the collider to be built. @@ -228,7 +228,7 @@ impl ColliderBuilder { pub fn new(shape: Shape) -> Self { Self { shape, - density: 1.0, + density: None, friction: Self::default_friction(), restitution: 0.0, delta: Isometry::identity(), @@ -236,6 +236,12 @@ impl ColliderBuilder { } } + /// The density of the collider being built. + pub fn get_density(&self) -> f32 { + let default_density = if self.is_sensor { 0.0 } else { 1.0 }; + self.density.unwrap_or(default_density) + } + /// Initialize a new collider builder with a ball shape defined by its radius. pub fn ball(radius: f32) -> Self { Self::new(Shape::Ball(Ball::new(radius))) @@ -349,7 +355,7 @@ impl ColliderBuilder { /// Sets the density of the collider this builder will build. pub fn density(mut self, density: f32) -> Self { - self.density = density; + self.density = Some(density); self } @@ -395,9 +401,11 @@ impl ColliderBuilder { /// Buildes a new collider attached to the given rigid-body. pub fn build(&self) -> Collider { + let density = self.get_density(); + Collider { shape: self.shape.clone(), - density: self.density, + density, friction: self.friction, restitution: self.restitution, delta: self.delta,