Merge pull request #6 from dimforge/collider_removal

Add collider removal + fix rigid-bodies with multiple colliders

3 files changed, 80 insertions, 2 deletions

diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index 3176696..efc3cce 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name    = "nphysics-examples-3d"
+name    = "rapier-examples-3d"
 version = "0.1.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 edition = "2018"
@@ -24,4 +24,4 @@ path = "../build/rapier3d"
 
 [[bin]]
 name = "all_examples3"
-path = "./all_examples3.rs"
\ No newline at end of file
+path = "./all_examples3.rs"
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 04b9b36..2b89efa 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -14,6 +14,7 @@ mod add_remove3;
 mod balls3;
 mod boxes3;
 mod capsules3;
+mod compound3;
 mod debug_boxes3;
 mod debug_triangle3;
 mod domino3;
@@ -71,6 +72,7 @@ pub fn main() {
         ("Balls", balls3::init_world),
         ("Boxes", boxes3::init_world),
         ("Capsules", capsules3::init_world),
+        ("Compound", compound3::init_world),
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),
         ("Joints", joints3::init_world),
diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs
new file mode 100644
index 0000000..a8a9939
--- /dev/null
+++ b/examples3d/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()
+}