672 lines
22 KiB
Rust
672 lines
22 KiB
Rust
use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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fn create_coupled_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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origin: Point<f32>,
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use_articulations: bool,
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) {
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let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
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let body1 = bodies.insert(
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RigidBodyBuilder::new_dynamic()
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.translation(origin.coords)
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.linvel(vector![5.0, 5.0, 5.0]),
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);
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colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), body1, bodies);
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let joint1 = GenericJointBuilder::new(JointAxesMask::empty())
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.limits(JointAxis::X, [-3.0, 3.0])
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.limits(JointAxis::Y, [0.0, 3.0])
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.limits(JointAxis::Z, [0.0, 3.0])
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.coupled_axes(JointAxesMask::Y | JointAxesMask::Z);
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if use_articulations {
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multibody_joints.insert(ground, body1, joint1);
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} else {
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impulse_joints.insert(ground, body1, joint1);
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}
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}
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fn create_prismatic_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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origin: Point<f32>,
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num: usize,
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use_articulations: bool,
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) {
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let rad = 0.4;
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let shift = 2.0;
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let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
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let mut curr_parent = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, curr_parent, bodies);
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for i in 0..num {
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let z = origin.z + (i + 1) as f32 * shift;
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let rigid_body =
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RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
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let curr_child = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, curr_child, bodies);
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let axis = if i % 2 == 0 {
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UnitVector::new_normalize(vector![1.0f32, 1.0, 0.0])
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} else {
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UnitVector::new_normalize(vector![-1.0f32, 1.0, 0.0])
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};
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let prism = PrismaticJointBuilder::new(axis)
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.local_anchor1(point![0.0, 0.0, 0.0])
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.local_anchor2(point![0.0, 0.0, -shift])
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.limits([-2.0, 2.0]);
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if use_articulations {
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multibody_joints.insert(curr_parent, curr_child, prism);
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} else {
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impulse_joints.insert(curr_parent, curr_child, prism);
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}
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curr_parent = curr_child;
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}
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}
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fn create_actuated_prismatic_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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origin: Point<f32>,
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num: usize,
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use_articulations: bool,
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) {
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let rad = 0.4;
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let shift = 2.0;
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let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]);
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let mut curr_parent = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, curr_parent, bodies);
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for i in 0..num {
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let z = origin.z + (i + 1) as f32 * shift;
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let rigid_body =
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RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]);
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let curr_child = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, curr_child, bodies);
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let axis = if i % 2 == 0 {
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UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
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} else {
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UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
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};
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let mut prism = PrismaticJointBuilder::new(axis)
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.local_anchor1(point![0.0, 0.0, shift])
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.local_anchor2(point![0.0, 0.0, 0.0])
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.build();
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if i == 0 {
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prism
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.set_motor_velocity(2.0, 1.0e5)
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// We set a max impulse so that the motor doesn't fight
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// the limits with large forces.
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.set_limits([-2.0, 5.0])
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.set_motor_max_force(100.0);
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} else if i == 1 {
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prism
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.set_limits([-Real::MAX, 5.0])
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.set_motor_velocity(6.0, 1.0e3)
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// We set a max impulse so that the motor doesn't fight
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// the limits with large forces.
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.set_motor_max_force(100.0);
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} else if i > 1 {
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prism
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.set_motor_position(2.0, 1.0e3, 1.0e2)
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.set_motor_max_force(60.0);
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}
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if use_articulations {
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multibody_joints.insert(curr_parent, curr_child, prism);
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} else {
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impulse_joints.insert(curr_parent, curr_child, prism);
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}
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curr_parent = curr_child;
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}
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}
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fn create_revolute_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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origin: Point<f32>,
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num: usize,
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use_articulations: bool,
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) {
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let rad = 0.4;
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let shift = 2.0;
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let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, 0.0]);
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let mut curr_parent = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, curr_parent, bodies);
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for i in 0..num {
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// Create four bodies.
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let z = origin.z + i as f32 * shift * 2.0 + shift;
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let positions = [
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Isometry::translation(origin.x, origin.y, z),
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Isometry::translation(origin.x + shift, origin.y, z),
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Isometry::translation(origin.x + shift, origin.y, z + shift),
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Isometry::translation(origin.x, origin.y, z + shift),
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];
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let mut handles = [curr_parent; 4];
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for k in 0..4 {
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let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]);
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handles[k] = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, handles[k], bodies);
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}
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// Setup four impulse_joints.
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let x = Vector::x_axis();
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let z = Vector::z_axis();
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let revs = [
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RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
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RevoluteJointBuilder::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
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RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
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RevoluteJointBuilder::new(x).local_anchor2(point![shift, 0.0, 0.0]),
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];
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if use_articulations {
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multibody_joints.insert(curr_parent, handles[0], revs[0]);
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multibody_joints.insert(handles[0], handles[1], revs[1]);
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multibody_joints.insert(handles[1], handles[2], revs[2]);
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multibody_joints.insert(handles[2], handles[3], revs[3]);
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} else {
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impulse_joints.insert(curr_parent, handles[0], revs[0]);
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impulse_joints.insert(handles[0], handles[1], revs[1]);
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impulse_joints.insert(handles[1], handles[2], revs[2]);
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impulse_joints.insert(handles[2], handles[3], revs[3]);
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}
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curr_parent = handles[3];
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}
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}
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fn create_revolute_joints_with_limits(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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origin: Point<f32>,
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use_articulations: bool,
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) {
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let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
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let platform1 = bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords));
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colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform1, bodies);
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let shift = vector![0.0, 0.0, 6.0];
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let platform2 =
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bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift));
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colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform2, bodies);
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let z = Vector::z_axis();
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let joint1 = RevoluteJointBuilder::new(z).limits([-0.2, 0.2]);
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if use_articulations {
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multibody_joints.insert(ground, platform1, joint1);
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} else {
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impulse_joints.insert(ground, platform1, joint1);
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}
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let joint2 = RevoluteJointBuilder::new(z)
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.local_anchor2(-Point::from(shift))
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.limits([-0.2, 0.2]);
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if use_articulations {
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multibody_joints.insert(platform1, platform2, joint2);
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} else {
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impulse_joints.insert(platform1, platform2, joint2);
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}
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// Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
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let cuboid_body1 = bodies.insert(
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RigidBodyBuilder::new_dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]),
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);
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colliders.insert_with_parent(
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ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
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cuboid_body1,
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bodies,
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);
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let cuboid_body2 = bodies.insert(
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RigidBodyBuilder::new_dynamic()
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.translation(origin.coords + shift + vector![2.0, 16.0, 0.0]),
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);
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colliders.insert_with_parent(
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ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0),
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cuboid_body2,
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bodies,
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);
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}
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fn create_fixed_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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origin: Point<f32>,
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num: usize,
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use_articulations: bool,
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) {
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let rad = 0.4;
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for i in 0..num {
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for k in 0..num {
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let fk = k as f32;
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let fi = i as f32;
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// NOTE: the num - 2 test is to avoid two consecutive
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// fixed bodies. Because physx will crash if we add
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// a joint between these.
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let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
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RigidBodyType::Static
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} else {
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RigidBodyType::Dynamic
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};
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let rigid_body = RigidBodyBuilder::new(status).translation(vector![
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origin.x + fk * shift,
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origin.y,
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origin.z + fi * shift
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]);
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad);
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colliders.insert_with_parent(collider, child_handle, bodies);
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// Vertical joint.
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if i > 0 {
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let parent_index = body_handles.len() - num;
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let parent_handle = body_handles[parent_index];
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let joint = FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
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if use_articulations {
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multibody_joints.insert(parent_handle, child_handle, joint);
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} else {
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impulse_joints.insert(parent_handle, child_handle, joint);
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}
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}
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// Horizontal joint.
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if k > 0 {
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let parent_index = body_handles.len() - 1;
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let parent_handle = body_handles[parent_index];
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let joint = FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
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impulse_joints.insert(parent_handle, child_handle, joint);
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}
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body_handles.push(child_handle);
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}
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}
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}
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fn create_spherical_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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num: usize,
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use_articulations: bool,
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) {
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let rad = 0.4;
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for k in 0..num {
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for i in 0..num {
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let fk = k as f32;
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let fi = i as f32;
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let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
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RigidBodyType::Static
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} else {
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RigidBodyType::Dynamic
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};
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let rigid_body = RigidBodyBuilder::new(status).translation(vector![
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fk * shift,
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0.0,
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fi * shift * 2.0
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]);
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::capsule_z(rad * 1.25, rad);
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colliders.insert_with_parent(collider, child_handle, bodies);
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// Vertical joint.
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if i > 0 {
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let parent_handle = *body_handles.last().unwrap();
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let joint =
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SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
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if use_articulations {
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multibody_joints.insert(parent_handle, child_handle, joint);
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} else {
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impulse_joints.insert(parent_handle, child_handle, joint);
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}
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}
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// Horizontal joint.
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if k > 0 {
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let parent_index = body_handles.len() - num;
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let parent_handle = body_handles[parent_index];
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let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
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impulse_joints.insert(parent_handle, child_handle, joint);
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}
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body_handles.push(child_handle);
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}
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}
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}
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fn create_spherical_joints_with_limits(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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origin: Point<f32>,
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use_articulations: bool,
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) {
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let shift = vector![0.0, 0.0, 3.0];
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let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords));
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let ball1 = bodies.insert(
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RigidBodyBuilder::new_dynamic()
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.translation(origin.coords + shift)
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.linvel(vector![20.0, 20.0, 0.0]),
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);
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colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball1, bodies);
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let ball2 =
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bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift * 2.0));
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colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball2, bodies);
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let joint1 = SphericalJointBuilder::new()
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.local_anchor2(Point::from(-shift))
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.limits(JointAxis::X, [-0.2, 0.2])
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.limits(JointAxis::Y, [-0.2, 0.2]);
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let joint2 = SphericalJointBuilder::new()
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.local_anchor2(Point::from(-shift))
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.limits(JointAxis::X, [-0.3, 0.3])
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.limits(JointAxis::Y, [-0.3, 0.3]);
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if use_articulations {
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multibody_joints.insert(ground, ball1, joint1);
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multibody_joints.insert(ball1, ball2, joint2);
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} else {
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impulse_joints.insert(ground, ball1, joint1);
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impulse_joints.insert(ball1, ball2, joint2);
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}
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}
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fn create_actuated_revolute_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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origin: Point<f32>,
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num: usize,
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use_articulations: bool,
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) {
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let rad = 0.4;
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let shift = 2.0;
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// We will reuse this base configuration for all the impulse_joints here.
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let z = Vector::z_axis();
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let joint_template = RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]);
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let mut parent_handle = RigidBodyHandle::invalid();
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for i in 0..num {
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let fi = i as f32;
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// NOTE: the num - 2 test is to avoid two consecutive
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// fixed bodies. Because physx will crash if we add
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// a joint between these.
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let status = if i == 0 {
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RigidBodyType::Static
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} else {
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RigidBodyType::Dynamic
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};
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let shifty = (i >= 1) as u32 as f32 * -2.0;
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let rigid_body = RigidBodyBuilder::new(status)
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.translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift])
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// .rotation(Vector3::new(0.0, fi * 1.1, 0.0))
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;
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad);
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colliders.insert_with_parent(collider, child_handle, bodies);
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if i > 0 {
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let mut joint = joint_template.motor_model(MotorModel::AccelerationBased);
|
||
|
||
if i % 3 == 1 {
|
||
joint = joint.motor_velocity(-20.0, 100.0);
|
||
} else if i == num - 1 {
|
||
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, 1000.0);
|
||
}
|
||
|
||
if use_articulations {
|
||
multibody_joints.insert(parent_handle, child_handle, joint);
|
||
} else {
|
||
impulse_joints.insert(parent_handle, child_handle, joint);
|
||
}
|
||
}
|
||
|
||
parent_handle = child_handle;
|
||
}
|
||
}
|
||
|
||
fn create_actuated_spherical_joints(
|
||
bodies: &mut RigidBodySet,
|
||
colliders: &mut ColliderSet,
|
||
impulse_joints: &mut ImpulseJointSet,
|
||
multibody_joints: &mut MultibodyJointSet,
|
||
origin: Point<f32>,
|
||
num: usize,
|
||
use_articulations: bool,
|
||
) {
|
||
let rad = 0.4;
|
||
let shift = 2.0;
|
||
|
||
// We will reuse this base configuration for all the impulse_joints here.
|
||
let joint_template = SphericalJointBuilder::new().local_anchor1(point![0.0, 0.0, shift]);
|
||
|
||
let mut parent_handle = RigidBodyHandle::invalid();
|
||
|
||
for i in 0..num {
|
||
let fi = i as f32;
|
||
|
||
// NOTE: the num - 2 test is to avoid two consecutive
|
||
// fixed bodies. Because physx will crash if we add
|
||
// a joint between these.
|
||
let status = if i == 0 {
|
||
RigidBodyType::Static
|
||
} else {
|
||
RigidBodyType::Dynamic
|
||
};
|
||
|
||
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))
|
||
;
|
||
|
||
let child_handle = bodies.insert(rigid_body);
|
||
let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad);
|
||
colliders.insert_with_parent(collider, child_handle, bodies);
|
||
|
||
if i > 0 {
|
||
let mut joint = joint_template.clone();
|
||
|
||
if i == 1 {
|
||
joint = joint
|
||
.motor_velocity(JointAxis::AngX, 0.0, 0.1)
|
||
.motor_velocity(JointAxis::AngY, 0.5, 0.1)
|
||
.motor_velocity(JointAxis::AngZ, -2.0, 0.1);
|
||
} else if i == num - 1 {
|
||
let stiffness = 0.2;
|
||
let damping = 1.0;
|
||
joint = joint
|
||
.motor_position(JointAxis::AngX, 0.0, stiffness, damping)
|
||
.motor_position(JointAxis::AngY, 1.0, stiffness, damping)
|
||
.motor_position(JointAxis::AngZ, 3.14 / 2.0, stiffness, damping);
|
||
}
|
||
|
||
if use_articulations {
|
||
multibody_joints.insert(parent_handle, child_handle, joint);
|
||
} else {
|
||
impulse_joints.insert(parent_handle, child_handle, joint);
|
||
}
|
||
}
|
||
|
||
parent_handle = child_handle;
|
||
}
|
||
}
|
||
|
||
fn do_init_world(testbed: &mut Testbed, use_articulations: bool) {
|
||
/*
|
||
* World
|
||
*/
|
||
let mut bodies = RigidBodySet::new();
|
||
let mut colliders = ColliderSet::new();
|
||
let mut impulse_joints = ImpulseJointSet::new();
|
||
let mut multibody_joints = MultibodyJointSet::new();
|
||
|
||
create_prismatic_joints(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![20.0, 5.0, 0.0],
|
||
4,
|
||
use_articulations,
|
||
);
|
||
create_actuated_prismatic_joints(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![25.0, 5.0, 0.0],
|
||
4,
|
||
use_articulations,
|
||
);
|
||
create_revolute_joints(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![20.0, 0.0, 0.0],
|
||
3,
|
||
use_articulations,
|
||
);
|
||
create_revolute_joints_with_limits(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![34.0, 0.0, 0.0],
|
||
use_articulations,
|
||
);
|
||
create_fixed_joints(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![0.0, 10.0, 0.0],
|
||
10,
|
||
use_articulations,
|
||
);
|
||
create_actuated_revolute_joints(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![20.0, 10.0, 0.0],
|
||
6,
|
||
use_articulations,
|
||
);
|
||
create_actuated_spherical_joints(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![13.0, 10.0, 0.0],
|
||
3,
|
||
use_articulations,
|
||
);
|
||
create_spherical_joints(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
15,
|
||
use_articulations,
|
||
);
|
||
create_spherical_joints_with_limits(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![-5.0, 0.0, 0.0],
|
||
use_articulations,
|
||
);
|
||
create_coupled_joints(
|
||
&mut bodies,
|
||
&mut colliders,
|
||
&mut impulse_joints,
|
||
&mut multibody_joints,
|
||
point![0.0, 20.0, 0.0],
|
||
use_articulations,
|
||
);
|
||
|
||
/*
|
||
* Set up the testbed.
|
||
*/
|
||
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
||
testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
|
||
}
|
||
|
||
pub fn init_world_with_joints(testbed: &mut Testbed) {
|
||
do_init_world(testbed, false)
|
||
}
|
||
|
||
pub fn init_world_with_articulations(testbed: &mut Testbed) {
|
||
do_init_world(testbed, true)
|
||
}
|