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| author | Crozet Sébastien <developer@crozet.re> | 2021-01-05 16:13:02 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-01-05 16:13:02 +0100 |
| commit | 924cb7bbb9948248605eec26924e99af77dbed07 (patch) | |
| tree | 55f5f1021112000f002283f9cb8f45e1a798ccc4 /examples3d | |
| parent | 00da4aaa42cc921bbd8c469b45c5c1e304f46260 (diff) | |
| download | rapier-924cb7bbb9948248605eec26924e99af77dbed07.tar.gz rapier-924cb7bbb9948248605eec26924e99af77dbed07.tar.bz2 rapier-924cb7bbb9948248605eec26924e99af77dbed07.zip | |
Add compound shapes to the heightfield and trimesh demos.
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/heightfield3.rs | 26 | ||||
| -rw-r--r-- | examples3d/trimesh3.rs | 26 |
2 files changed, 44 insertions, 8 deletions
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index 6558614..bc2ac98 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -1,6 +1,6 @@ -use na::{ComplexField, DMatrix, Point3, Vector3}; +use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet, ColliderShape}; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -58,14 +58,32 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = match j % 5 { + let collider = match j % 6 { 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), 1 => ColliderBuilder::ball(rad).build(), // Rounded cylinders are much more efficient that cylinder, even if the // rounding margin is small. 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(), 3 => ColliderBuilder::cone(rad, rad).build(), - _ => ColliderBuilder::capsule_y(rad, rad).build(), + 4 => ColliderBuilder::capsule_y(rad, rad).build(), + _ => { + let shapes = vec![ + ( + Isometry3::identity(), + ColliderShape::cuboid(rad, rad / 2.0, rad / 2.0), + ), + ( + Isometry3::translation(rad, 0.0, 0.0), + ColliderShape::cuboid(rad / 2.0, rad, rad / 2.0), + ), + ( + Isometry3::translation(-rad, 0.0, 0.0), + ColliderShape::cuboid(rad / 2.0, rad, rad / 2.0), + ), + ]; + + ColliderBuilder::compound(shapes).build() + } }; colliders.insert(collider, handle, &mut bodies); diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index d753988..e03ec6d 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -1,6 +1,6 @@ -use na::{ComplexField, DMatrix, Point3, Vector3}; +use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet, ColliderShape, HeightField}; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -63,14 +63,32 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = match j % 5 { + let collider = match j % 6 { 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), 1 => ColliderBuilder::ball(rad).build(), // Rounded cylinders are much more efficient that cylinder, even if the // rounding margin is small. 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(), 3 => ColliderBuilder::cone(rad, rad).build(), - _ => ColliderBuilder::capsule_y(rad, rad).build(), + 4 => ColliderBuilder::capsule_y(rad, rad).build(), + _ => { + let shapes = vec![ + ( + Isometry3::identity(), + ColliderShape::cuboid(rad, rad / 2.0, rad / 2.0), + ), + ( + Isometry3::translation(rad, 0.0, 0.0), + ColliderShape::cuboid(rad / 2.0, rad, rad / 2.0), + ), + ( + Isometry3::translation(-rad, 0.0, 0.0), + ColliderShape::cuboid(rad / 2.0, rad, rad / 2.0), + ), + ]; + + ColliderBuilder::compound(shapes).build() + } }; colliders.insert(collider, handle, &mut bodies); |