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-rw-r--r--examples2d/all_examples2.rs4
-rw-r--r--examples2d/convex_polygons2.rs86
-rw-r--r--examples2d/polyline2.rs74
-rw-r--r--examples3d/all_examples3.rs2
-rw-r--r--examples3d/convex_polyhedron3.rs78
-rw-r--r--src/geometry/collider.rs5
-rw-r--r--src_testbed/engine.rs10
-rw-r--r--src_testbed/objects/mod.rs1
-rw-r--r--src_testbed/objects/node.rs23
-rw-r--r--src_testbed/objects/polyline.rs64
10 files changed, 294 insertions, 53 deletions
diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index e0b6631..5040c8a 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -12,12 +12,14 @@ use std::cmp::Ordering;
mod add_remove2;
mod collision_groups2;
+mod convex_polygons2;
mod damping2;
mod debug_box_ball2;
mod heightfield2;
mod joints2;
mod locked_rotations2;
mod platform2;
+mod polyline2;
mod pyramid2;
mod restitution2;
mod sensor2;
@@ -58,11 +60,13 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Add remove", add_remove2::init_world),
("Collision groups", collision_groups2::init_world),
+ ("Convex polygons", convex_polygons2::init_world),
("Damping", damping2::init_world),
("Heightfield", heightfield2::init_world),
("Joints", joints2::init_world),
("Locked rotations", locked_rotations2::init_world),
("Platform", platform2::init_world),
+ ("Polyline", polyline2::init_world),
("Pyramid", pyramid2::init_world),
("Restitution", restitution2::init_world),
("Sensor", sensor2::init_world),
diff --git a/examples2d/convex_polygons2.rs b/examples2d/convex_polygons2.rs
new file mode 100644
index 0000000..d936fb6
--- /dev/null
+++ b/examples2d/convex_polygons2.rs
@@ -0,0 +1,86 @@
+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 rapier_testbed2d::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 = 30.0;
+
+ 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);
+
+ let rigid_body = RigidBodyBuilder::new_static()
+ .rotation(std::f32::consts::FRAC_PI_2)
+ .translation(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);
+
+ let rigid_body = RigidBodyBuilder::new_static()
+ .rotation(std::f32::consts::FRAC_PI_2)
+ .translation(-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);
+
+ /*
+ * Create the convex polygons
+ */
+ let num = 14;
+ let scale = 4.0;
+ let border_rad = 0.0;
+
+ let shift = border_rad * 2.0 + scale;
+ let centerx = shift * (num as f32) / 2.0;
+ let centery = shift / 2.0;
+
+ let mut rng = StdRng::seed_from_u64(0);
+ let distribution = Standard;
+
+ for i in 0..num {
+ for j in 0usize..num * 4 {
+ 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 handle = bodies.insert(rigid_body);
+
+ let mut points = Vec::new();
+
+ for _ in 0..10 {
+ let pt: Point2<f32> = distribution.sample(&mut rng);
+ points.push(pt * scale);
+ }
+
+ let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
+ colliders.insert(collider, handle, &mut bodies);
+ }
+ }
+
+ /*
+ * Set up the testbed.
+ */
+ testbed.set_world(bodies, colliders, joints);
+ testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+ let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+ testbed.run()
+}
diff --git a/examples2d/polyline2.rs b/examples2d/polyline2.rs
new file mode 100644
index 0000000..3aa4a47
--- /dev/null
+++ b/examples2d/polyline2.rs
@@ -0,0 +1,74 @@
+use na::{ComplexField, Point2};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::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 = 50.0;
+ let nsubdivs = 2000;
+ let step_size = ground_size / (nsubdivs as f32);
+ let mut points = Vec::new();
+
+ points.push(Point2::new(-ground_size / 2.0, 40.0));
+ for i in 1..nsubdivs - 1 {
+ let x = -ground_size / 2.0 + i as f32 * step_size;
+ let y = ComplexField::cos(i as f32 * step_size) * 2.0;
+ points.push(Point2::new(x, y));
+ }
+ points.push(Point2::new(ground_size / 2.0, 40.0));
+
+ let rigid_body = RigidBodyBuilder::new_static().build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::polyline(points, None).build();
+ colliders.insert(collider, handle, &mut bodies);
+
+ /*
+ * Create the cubes
+ */
+ let num = 20;
+ let rad = 0.5;
+
+ let shift = rad * 2.0;
+ let centerx = shift * (num / 2) as f32;
+ let centery = shift / 2.0;
+
+ for i in 0..num {
+ for j in 0usize..num {
+ let x = i as f32 * shift - centerx;
+ let y = j as f32 * shift + centery + 3.0;
+
+ // Build the rigid body.
+ let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+ let handle = bodies.insert(rigid_body);
+
+ if j % 2 == 0 {
+ let collider = ColliderBuilder::cuboid(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(Point2::new(0.0, 0.0), 10.0);
+}
+
+fn main() {
+ let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
+ testbed.run()
+}
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index ff5a3e8..9cbf4c3 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -13,6 +13,7 @@ use std::cmp::Ordering;
mod collision_groups3;
mod compound3;
mod convex_decomposition3;
+mod convex_polyhedron3;
mod damping3;
mod debug_add_remove_collider3;
mod debug_boxes3;
@@ -76,6 +77,7 @@ pub fn main() {
("Collision groups", collision_groups3::init_world),
("Compound", compound3::init_world),
("Convex decomposition", convex_decomposition3::init_world),
+ ("Convex polyhedron", convex_polyhedron3::init_world),
("Damping", damping3::init_world),
("Domino", domino3::init_world),
("Heightfield", heightfield3::init_world),
diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs
new file mode 100644
index 0000000..3cbcbf1
--- /dev/null
+++ b/examples3d/convex_polyhedron3.rs
@@ -0,0 +1,78 @@
+use na::Point3;
+use rand::distributions::{Distribution, Standard};
+use rand::{rngs::StdRng, SeedableRng};
+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 = 40.0;
+ 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 polyhedra
+ */
+ let num = 5;
+ let scale = 2.0;
+ let border_rad = 0.1;
+
+ let shift = border_rad * 2.0 + scale;
+ let centerx = shift * (num / 2) as f32;
+ let centery = shift / 2.0;
+ let centerz = shift * (num / 2) as f32;
+
+ let mut rng = StdRng::seed_from_u64(0);
+ let distribution = Standard;
+
+ for j in 0usize..25 {
+ 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;
+
+ let mut points = Vec::new();
+ for _ in 0..10 {
+ let pt: Point3<f32> = distribution.sample(&mut rng);
+ points.push(pt * scale);
+ }
+
+ // Build the rigid body.
+ let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
+ .unwrap()
+ .build();
+ colliders.insert(collider, handle, &mut bodies);
+ }
+ }
+ }
+
+ /*
+ * Set up the testbed.
+ */
+ testbed.set_world(bodies, colliders, joints);
+ testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin());
+}
+
+fn main() {
+ let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+ testbed.run()
+}
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 138b9b8..8924a3d 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -299,6 +299,11 @@ impl ColliderBuilder {
Self::new(SharedShape::round_triangle(a, b, c, border_radius))
}
+ /// Initializes a collider builder with a polyline shape defined by its vertex and index buffers.
+ pub fn polyline(vertices: Vec<Point<Real>>, indices: Option<Vec<[u32; 2]>>) -> Self {
+ Self::new(SharedShape::polyline(vertices, indices))
+ }
+
/// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self {
Self::new(SharedShape::trimesh(vertices, indices))
diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs
index cef12d6..bcdbbca 100644
--- a/src_testbed/engine.rs
+++ b/src_testbed/engine.rs
@@ -26,6 +26,7 @@ use crate::objects::cone::Cone;
#[cfg(feature = "dim3")]
use crate::objects::cylinder::Cylinder;
use crate::objects::mesh::Mesh;
+use crate::objects::polyline::Polyline;
use rand::{Rng, SeedableRng};
use rand_pcg::Pcg32;
use std::collections::HashMap;
@@ -352,6 +353,15 @@ impl GraphicsManager {
)))
}
+ if let Some(polyline) = shape.as_polyline() {
+ out.push(Node::Polyline(Polyline::new(
+ handle,
+ polyline.vertices().to_vec(),
+ polyline.indices().to_vec(),
+ color,
+ )))
+ }
+
if let Some(heightfield) = shape.as_heightfield() {
out.push(Node::HeightField(HeightField::new(
handle,
diff --git a/src_testbed/objects/mod.rs b/src_testbed/objects/mod.rs
index e4d7bc4..8e12dbe 100644
--- a/src_testbed/objects/mod.rs
+++ b/src_testbed/objects/mod.rs
@@ -7,6 +7,7 @@ pub mod cylinder;
pub mod heightfield;
pub mod mesh;
pub mod node;
+pub mod polyline;
//pub mod plane;
//#[cfg(feature = "dim2")]
//pub mod polyline;
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index d1de799..64c8ad4 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -5,8 +5,7 @@ use crate::objects::convex::Convex;
use crate::objects::heightfield::HeightField;
use crate::objects::mesh::Mesh;
//use crate::objects::plane::Plane;
-//#[cfg(feature = "dim2")]
-//use crate::objects::polyline::Polyline;
+use crate::objects::polyline::Polyline;
use kiss3d::window::Window;
use na::Point3;
@@ -26,8 +25,7 @@ pub enum Node {
Box(Box),
HeightField(HeightField),
Capsule(Capsule),
- // #[cfg(feature = "dim2")]
- // Polyline(Polyline),
+ Polyline(Polyline),
Mesh(Mesh),
Convex(Convex),
Cylinder(Cylinder),
@@ -42,8 +40,7 @@ impl Node {
Node::Box(ref mut n) => n.select(),
Node::Capsule(ref mut n) => n.select(),
Node::HeightField(ref mut n) => n.select(),
- // #[cfg(feature = "dim2")]
- // Node::Polyline(ref mut n) => n.select(),
+ Node::Polyline(ref mut n) => n.select(),
Node::Mesh(ref mut n) => n.select(),
Node::Convex(ref mut n) => n.select(),
Node::Cylinder(ref mut n) => n.select(),
@@ -58,8 +55,7 @@ impl Node {
Node::Box(ref mut n) => n.unselect(),
Node::Capsule(ref mut n) => n.unselect(),
Node::HeightField(ref mut n) => n.unselect(),
- // #[cfg(feature = "dim2")]
- // Node::Polyline(ref mut n) => n.unselect(),
+ Node::Polyline(ref mut n) => n.unselect(),
Node::Mesh(ref mut n) => n.unselect(),
Node::Convex(ref mut n) => n.unselect(),
Node::Cylinder(ref mut n) => n.unselect(),
@@ -74,8 +70,7 @@ impl Node {
Node::Box(ref mut n) => n.update(colliders),
Node::Capsule(ref mut n) => n.update(colliders),
Node::HeightField(ref mut n) => n.update(colliders),
- // #[cfg(feature = "dim2")]
- // Node::Polyline(ref mut n) => n.update(colliders),
+ Node::Polyline(ref mut n) => n.update(colliders),
Node::Mesh(ref mut n) => n.update(colliders),
Node::Convex(ref mut n) => n.update(colliders),
Node::Cylinder(ref mut n) => n.update(colliders),
@@ -86,7 +81,7 @@ impl Node {
#[cfg(feature = "dim2")]
pub fn draw(&mut self, window: &mut Window) {
match *self {
- // Node::Polyline(ref mut n) => n.draw(_window),
+ Node::Polyline(ref mut n) => n.draw(window),
Node::HeightField(ref mut n) => n.draw(window),
// Node::Plane(ref mut n) => n.draw(_window),
_ => {}
@@ -139,8 +134,7 @@ impl Node {
Node::Box(ref n) => n.object(),
Node::Capsule(ref n) => n.object(),
Node::HeightField(ref n) => n.object(),
- // #[cfg(feature = "dim2")]
- // Node::Polyline(ref n) => n.object(),
+ Node::Polyline(ref n) => n.object(),
Node::Mesh(ref n) => n.object(),
Node::Convex(ref n) => n.object(),
Node::Cylinder(ref n) => n.object(),
@@ -155,8 +149,7 @@ impl Node {
Node::Box(ref mut n) => n.set_color(color),
Node::Capsule(ref mut n) => n.set_color(color),
Node::HeightField(ref mut n) => n.set_color(color),
- // #[cfg(feature = "dim2")]
- // Node::Polyline(ref mut n) => n.set_color(color),
+ Node::Polyline(ref mut n) => n.set_color(color),
Node::Mesh(ref mut n) => n.set_color(color),
Node::Convex(ref mut n) => n.set_color(color),
Node::Cylinder(ref mut n) => n.set_color(color),
diff --git a/src_testbed/objects/polyline.rs b/src_testbed/objects/polyline.rs
index cdc0f21..98a8f24 100644
--- a/src_testbed/objects/polyline.rs
+++ b/src_testbed/objects/polyline.rs
@@ -1,38 +1,32 @@
use kiss3d::window::Window;
-use na::{Isometry2, Point2, Point3};
-use nphysics2d::object::{ColliderAnchor, DefaultColliderHandle, DefaultColliderSet};
-use parry2d::shape;
+use na::Point3;
+use rapier::geometry::{ColliderHandle, ColliderSet};
+use rapier::math::{Isometry, Point};
pub struct Polyline {
color: Point3<f32>,
base_color: Point3<f32>,
- vertices: Vec<Point2<f32>>,
- indices: Vec<Point2<usize>>,
- collider: DefaultColliderHandle,
- pos: Isometry2<f32>,
+ vertices: Vec<Point<f32>>,
+ indices: Vec<[u32; 2]>,
+ collider: ColliderHandle,
+ pos: Isometry<f32>,
}
impl Polyline {
pub fn new(
- collider: DefaultColliderHandle,
- colliders: &DefaultColliderSet<f32>,
- _: Isometry2<f32>,
- vertices: Vec<Point2<f32>>,
- indices: Vec<Point2<usize>>,
+ collider: ColliderHandle,
+ vertices: Vec<Point<f32>>,
+ indices: Vec<[u32; 2]>,
color: Point3<f32>,
- _: &mut Window,
) -> Polyline {
- let mut res = Polyline {
+ Polyline {
color,
- pos: Isometry2::identity(),
+ pos: Isometry::identity(),
base_color: color,
vertices,
indices,
collider,
- };
-
- res.update(colliders);
- res
+ }
}
pub fn select(&mut self) {
@@ -48,32 +42,26 @@ impl Polyline {
self.base_color = color;
}
- pub fn update(&mut self, colliders: &DefaultColliderSet<f32>) {
- // Update if some deformation occurred.
- // FIXME: don't update if it did not move.
- if let Some(c) = colliders.get(self.collider) {
- self.pos = *c.position();
- if let ColliderAnchor::OnDeformableBody { .. } = c.anchor() {
- let shape = c.shape().as_shape::<shape::Polyline<f32>>().unwrap();
- self.vertices = shape.points().to_vec();
- self.indices.clear();
-
- for e in shape.edges() {
- self.indices.push(e.indices);
- }
- }
- }
+ pub fn update(&mut self, colliders: &ColliderSet) {
+ self.pos = colliders
+ .get(self.collider)
+ .map(|c| *c.position())
+ .unwrap_or(Isometry::identity());
}
- pub fn object(&self) -> DefaultColliderHandle {
+ pub fn object(&self) -> ColliderHandle {
self.collider
}
pub fn draw(&mut self, window: &mut Window) {
for idx in &self.indices {
- let p1 = self.pos * self.vertices[idx.x];
- let p2 = self.pos * self.vertices[idx.y];
- window.draw_planar_line(&p1, &p2, &self.color)
+ let p1 = self.pos * self.vertices[idx[0] as usize];
+ let p2 = self.pos * self.vertices[idx[1] as usize];
+
+ #[cfg(feature = "dim2")]
+ window.draw_planar_line(&p1, &p2, &self.color);
+ #[cfg(feature = "dim3")]
+ window.draw_line(&p1, &p2, &self.color);
}
}
}
generated by cgit (git 2.34.1) at 2026-03-03 15:20:12 +0000