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-rw-r--r--examples2d/all_examples2.rs2
-rw-r--r--examples2d/collision_groups2.rs98
-rw-r--r--examples3d/all_examples3.rs2
-rw-r--r--examples3d/collision_groups3.rs102
-rw-r--r--src_testbed/engine.rs7
-rw-r--r--src_testbed/testbed.rs8
6 files changed, 218 insertions, 1 deletions
diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index 0ebef88..9bae719 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -11,6 +11,7 @@ use rapier_testbed2d::Testbed;
use std::cmp::Ordering;
mod add_remove2;
+mod collision_groups2;
mod debug_box_ball2;
mod heightfield2;
mod joints2;
@@ -52,6 +53,7 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Add remove", add_remove2::init_world),
+ ("Collision groups", collision_groups2::init_world),
("Heightfield", heightfield2::init_world),
("Joints", joints2::init_world),
("Platform", platform2::init_world),
diff --git a/examples2d/collision_groups2.rs b/examples2d/collision_groups2.rs
new file mode 100644
index 0000000..9fd9f0b
--- /dev/null
+++ b/examples2d/collision_groups2.rs
@@ -0,0 +1,98 @@
+use na::{Point2, Point3};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
+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 = 5.0;
+ let ground_height = 0.1;
+
+ let rigid_body = RigidBodyBuilder::new_static()
+ .translation(0.0, -ground_height)
+ .build();
+ let floor_handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
+ colliders.insert(collider, floor_handle, &mut bodies);
+
+ /*
+ * Setup groups
+ */
+ const GREEN_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
+ const BLUE_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);
+
+ /*
+ * A green floor that will collide with the GREEN group only.
+ */
+ let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
+ .translation(0.0, 1.0)
+ .collision_groups(GREEN_GROUP)
+ .build();
+ let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+
+ testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+
+ /*
+ * A blue floor that will collide with the BLUE group only.
+ */
+ let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
+ .translation(0.0, 2.0)
+ .collision_groups(BLUE_GROUP)
+ .build();
+ let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+
+ testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+
+ /*
+ * Create the cubes
+ */
+ let num = 8;
+ let rad = 0.1;
+
+ let shift = rad * 2.0;
+ let centerx = shift * (num / 2) as f32;
+ let centery = 2.5;
+
+ for j in 0usize..4 {
+ for i in 0..num {
+ let x = i as f32 * shift - centerx;
+ let y = j as f32 * shift + centery;
+
+ // Alternate between the green and blue groups.
+ let (group, color) = if i % 2 == 0 {
+ (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+ } else {
+ (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+ };
+
+ let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cuboid(rad, rad)
+ .collision_groups(group)
+ .build();
+ colliders.insert(collider, handle, &mut bodies);
+
+ testbed.set_body_color(handle, color);
+ }
+ }
+
+ /*
+ * Set up the testbed.
+ */
+ testbed.set_world(bodies, colliders, joints);
+ testbed.look_at(Point2::new(0.0, 1.0), 100.0);
+}
+
+fn main() {
+ let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+ testbed.run()
+}
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 85b2504..eeb9736 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -11,6 +11,7 @@ use rapier_testbed3d::Testbed;
use std::cmp::Ordering;
mod add_remove3;
+mod collision_groups3;
mod compound3;
mod debug_boxes3;
mod debug_cylinder3;
@@ -65,6 +66,7 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Add remove", add_remove3::init_world),
("Primitives", primitives3::init_world),
+ ("Collision groups", collision_groups3::init_world),
("Compound", compound3::init_world),
("Domino", domino3::init_world),
("Heightfield", heightfield3::init_world),
diff --git a/examples3d/collision_groups3.rs b/examples3d/collision_groups3.rs
new file mode 100644
index 0000000..625bc50
--- /dev/null
+++ b/examples3d/collision_groups3.rs
@@ -0,0 +1,102 @@
+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
+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 = 5.0;
+ let ground_height = 0.1;
+
+ let rigid_body = RigidBodyBuilder::new_static()
+ .translation(0.0, -ground_height, 0.0)
+ .build();
+ let floor_handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+ colliders.insert(collider, floor_handle, &mut bodies);
+
+ /*
+ * Setup groups
+ */
+ const GREEN_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
+ const BLUE_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);
+
+ /*
+ * A green floor that will collide with the GREEN group only.
+ */
+ let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
+ .translation(0.0, 1.0, 0.0)
+ .collision_groups(GREEN_GROUP)
+ .build();
+ let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
+
+ testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
+
+ /*
+ * A blue floor that will collide with the BLUE group only.
+ */
+ let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
+ .translation(0.0, 2.0, 0.0)
+ .collision_groups(BLUE_GROUP)
+ .build();
+ let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
+
+ testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
+
+ /*
+ * Create the cubes
+ */
+ let num = 8;
+ let rad = 0.1;
+
+ let shift = rad * 2.0;
+ let centerx = shift * (num / 2) as f32;
+ let centery = 2.5;
+ let centerz = shift * (num / 2) as f32;
+
+ for j in 0usize..4 {
+ for i in 0..num {
+ for k in 0usize..num {
+ let x = i as f32 * shift - centerx;
+ let y = j as f32 * shift + centery;
+ let z = k as f32 * shift - centerz;
+
+ // Alternate between the green and blue groups.
+ let (group, color) = if k % 2 == 0 {
+ (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
+ } else {
+ (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
+ };
+
+ let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cuboid(rad, rad, rad)
+ .collision_groups(group)
+ .build();
+ colliders.insert(collider, handle, &mut bodies);
+
+ testbed.set_body_color(handle, color);
+ }
+ }
+ }
+
+ /*
+ * Set up the testbed.
+ */
+ testbed.set_world(bodies, colliders, joints);
+ testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+ let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+ testbed.run()
+}
diff --git a/src_testbed/engine.rs b/src_testbed/engine.rs
index b02f146..1bafdb6 100644
--- a/src_testbed/engine.rs
+++ b/src_testbed/engine.rs
@@ -63,6 +63,7 @@ pub struct GraphicsManager {
#[cfg(feature = "fluids")]
boundary2sn: HashMap<BoundaryHandle, FluidNode>,
b2color: HashMap<RigidBodyHandle, Point3<f32>>,
+ c2color: HashMap<ColliderHandle, Point3<f32>>,
b2wireframe: HashMap<RigidBodyHandle, bool>,
#[cfg(feature = "fluids")]
f2color: HashMap<FluidHandle, Point3<f32>>,
@@ -100,6 +101,7 @@ impl GraphicsManager {
#[cfg(feature = "fluids")]
boundary2sn: HashMap::new(),
b2color: HashMap::new(),
+ c2color: HashMap::new(),
#[cfg(feature = "fluids")]
f2color: HashMap::new(),
ground_color: Point3::new(0.5, 0.5, 0.5),
@@ -186,6 +188,10 @@ impl GraphicsManager {
}
}
+ pub fn set_collider_initial_color(&mut self, c: ColliderHandle, color: Point3<f32>) {
+ self.c2color.insert(c, color);
+ }
+
pub fn set_body_wireframe(&mut self, b: RigidBodyHandle, enabled: bool) {
self.b2wireframe.insert(b, enabled);
@@ -324,6 +330,7 @@ impl GraphicsManager {
let mut new_nodes = Vec::new();
for collider_handle in bodies[handle].colliders() {
+ let color = self.c2color.get(collider_handle).copied().unwrap_or(color);
let collider = &colliders[*collider_handle];
self.add_collider(window, *collider_handle, collider, color, &mut new_nodes);
}
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 2b733a3..3a1b938 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -23,7 +23,9 @@ use rapier::dynamics::{
};
#[cfg(feature = "dim3")]
use rapier::geometry::Ray;
-use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent};
+use rapier::geometry::{
+ BroadPhase, ColliderHandle, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent,
+};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
#[cfg(feature = "fluids")]
@@ -497,6 +499,10 @@ impl Testbed {
self.graphics.set_body_color(body, color);
}
+ pub fn set_collider_initial_color(&mut self, collider: ColliderHandle, color: Point3<f32>) {
+ self.graphics.set_collider_initial_color(collider, color);
+ }
+
#[cfg(feature = "fluids")]
pub fn set_fluid_color(&mut self, fluid: FluidHandle, color: Point3<f32>) {
self.graphics.set_fluid_color(fluid, color);
generated by cgit (git 2.34.1) at 2026-03-03 20:33:08 +0000