diff options
93 files changed, 1525 insertions, 1256 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md index 2d3dcf9..f7c1d3d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,8 +1,31 @@ ## v0.9.0 +The user-guide has been fully rewritten and is now exhaustive! Check it out on [rapier.rs](https://rapier.rs/) + +### Added +- A prelude has been added in order to simplify the most common imports. For example: `use rapier3d::prelude::*` ### Modified - Renamed `BodyStatus` to `RigidBodyType`. +FIXME: +- `RigidBodyBuilder::translation` now takes a vector instead of individual components. +- `RigidBodyBuilder::linvel` now takes a vector instead of individual components. +- `Colliderbuilder::translation` now takes a vector instead of individual components. +- The way `PhysicsHooks` are enabled changed. Now, a physics hooks is executed if any of the two + colliders involved in the contact/intersection pair contains the related `PhysicsHooksFlag`. + These flags are configured on each collider with `ColliderBuilder::active_hooks`. As a result, + there is no `PhysicsHooks::active_hooks` method any more. +- Before, sensor colliders had a default density set to 0.0 whereas non-sensor colliders had a + default density of 1.0. This has been unified by setting the default density to 1.0 for both + sensor and non-sensor colliders. +- Colliders are no longer required to be attached to a rigid-body. Therefore, `ColliderSet::insert` + only takes the collider as argument now. In order to attach the collider to a rigid-body, + (i.e., the old behavior of `ColliderSet::insert`), use `ColliderSet::insert_with_parent`. +- The field `ContactPair::pair` (which contained two collider handles) has been replaced by two + fields: `ContactPair::collider1` and `ContactPair::collider2`. +- The fields `FixedJoint::local_anchor1` and `FixedJoint::local_anchor2` have been renamed to + `FixedJoint::local_frame1` and `FixedJoint::local_frame2`. + ## v0.8.0 ### Modified - Switch to nalgebra 0.26. diff --git a/benchmarks2d/balls2.rs b/benchmarks2d/balls2.rs index 8fa9775..ec55f24 100644 --- a/benchmarks2d/balls2.rs +++ b/benchmarks2d/balls2.rs @@ -1,6 +1,4 @@ -use na::Point2; -use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType}; -use rapier2d::geometry::{ColliderBuilder, ColliderSet}; +use rapier2d::prelude::*; use rapier_testbed2d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -22,7 +20,7 @@ pub fn init_world(testbed: &mut Testbed) { let co = ColliderDesc::new(ground_shape) .translation(-Vector2::y()) .build(BodyPartHandle(ground_handle, 0)); - colliders.insert(co); + colliders.insert_with_parent(co); */ /* @@ -48,10 +46,12 @@ pub fn init_world(testbed: &mut Testbed) { }; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build(); + let rigid_body = RigidBodyBuilder::new(status) + .translation(vector![x, y]) + .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::ball(rad).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); } } @@ -59,5 +59,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point2::new(0.0, 2.5), 5.0); + testbed.look_at(point![0.0, 2.5], 5.0); } diff --git a/benchmarks2d/boxes2.rs b/benchmarks2d/boxes2.rs index e524386..2e4c5e4 100644 --- a/benchmarks2d/boxes2.rs +++ b/benchmarks2d/boxes2.rs @@ -1,6 +1,4 @@ -use na::Point2; -use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier2d::geometry::{ColliderBuilder, ColliderSet}; +use rapier2d::prelude::*; use rapier_testbed2d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_static().build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); let rigid_body = RigidBodyBuilder::new_static() .rotation(std::f32::consts::FRAC_PI_2) - .translation(ground_size, ground_size * 2.0) + .translation(vector![ground_size, ground_size * 2.0]) .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); let rigid_body = RigidBodyBuilder::new_static() .rotation(std::f32::consts::FRAC_PI_2) - .translation(-ground_size, ground_size * 2.0) + .translation(vector![-ground_size, ground_size * 2.0]) .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); /* * Create the cubes @@ -53,10 +51,12 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shift + centery + 2.0; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build(); + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(vector![x, y]) + .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); } } @@ -64,5 +64,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point2::new(0.0, 50.0), 10.0); + testbed.look_at(point![0.0, 50.0], 10.0); } diff --git a/benchmarks2d/capsules2.rs b/benchmarks2d/capsules2.rs index 89ddfde..e75afe4 100644 --- a/benchmarks2d/capsules2.rs +++ b/benchmarks2d/capsules2.rs @@ -1,6 +1,4 @@ -use na::Point2; -use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier2d::geometry::{ColliderBuilder, ColliderSet}; +use rapier2d::prelude::*; use rapier_testbed2d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -19,23 +17,23 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_static().build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); let rigid_body = RigidBodyBuilder::new_static() .rotation(std::f32::consts::FRAC_PI_2) - .translation(ground_size, ground_size * 4.0) + .translation(vector![ground_size, ground_size * 4.0]) .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); let rigid_body = RigidBodyBuilder::new_static() .rotation(std::f32::consts::FRAC_PI_2) - .translation(-ground_size, ground_size * 4.0) + .translation(vector![-ground_size, ground_size * 4.0]) .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); /* * Create the cubes @@ -55,10 +53,12 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shifty + centery + 3.0; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build(); + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(vector![x, y]) + .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); } } @@ -66,5 +66,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point2::new(0.0, 50.0), 10.0); + testbed.look_at(point![0.0, 50.0], 10.0); } diff --git a/benchmarks2d/convex_polygons2.rs b/benchmarks2d/convex_polygons2.rs index 99f5a14..6c9792e 100644 --- a/benchmarks2d/convex_polygons2.rs +++ b/benchmarks2d/convex_polygons2.rs @@ -1,8 +1,6 @@ -use na::Point2; use rand::distributions::{Distribution, Standard}; use rand::{rngs::StdRng, SeedableRng}; -use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier2d::geometry::{ColliderBuilder, ColliderSet}; +use rapier2d::prelude::*; use rapier_testbed2d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -21,23 +19,23 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_static().build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); let rigid_body = RigidBodyBuilder::new_static() .rotation(std::f32::consts::FRAC_PI_2) - .translation(ground_size, ground_size * 2.0) + .translation(vector![ground_size, ground_size * 2.0]) .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); let rigid_body = RigidBodyBuilder::new_static() .rotation(std::f32::consts::FRAC_PI_2) - .translation(-ground_size, ground_size * 2.0) + .translation(vector![-ground_size, ground_size * 2.0]) .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); /* * Create the convex polygons @@ -58,18 +56,20 @@ pub fn init_world(testbed: &mut Testbed) { let x = i as f32 * shift - centerx; let y = j as f32 * shift * 2.0 + centery + 2.0; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build(); + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(vector![x, y]) + .build(); let handle = bodies.insert(rigid_body); let mut points = Vec::new(); for _ in 0..10 { - let pt: Point2<f32> = distribution.sample(&mut rng); + let pt: Point<f32> = distribution.sample(&mut rng); points.push(pt * scale); } let collider = ColliderBuilder::convex_hull(&points).unwrap().build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); } } @@ -77,5 +77,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point2::new(0.0, 50.0), 10.0); + testbed.look_at(point![0.0, 50.0], 10.0); } diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs index 1a30849..a07eb6e 100644 --- a/benchmarks2d/heightfield2.rs +++ b/benchmarks2d/heightfield2.rs @@ -1,6 +1,5 @@ -use na::{DVector, Point2, Vector2}; -use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier2d::geometry::{ColliderBuilder, ColliderSet}; +use na::DVector; +use rapier2d::prelude::*; use rapier_testbed2d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -14,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground */ - let ground_size = Vector2::new(50.0, 1.0); + let ground_size = Vector::new(50.0, 1.0); let nsubdivs = 2000; let heights = DVector::from_fn(nsubdivs + 1, |i, _| { @@ -28,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) { 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); + colliders.insert_with_parent(collider, handle, &mut bodies); |