aboutsummaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--CHANGELOG.md5
-rw-r--r--crates/rapier2d-f64/Cargo.toml2
-rw-r--r--crates/rapier2d/Cargo.toml2
-rw-r--r--crates/rapier3d-f64/Cargo.toml2
-rw-r--r--crates/rapier3d/Cargo.toml2
-rw-r--r--examples3d/vehicle_controller3.rs112
-rw-r--r--src_testbed/testbed.rs16
7 files changed, 65 insertions, 76 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 44d00d7..15dd631 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,10 +2,13 @@
## Unreleased
### Added
- Add `RigidBody::set_enabled`, `RigidBody::is_enabled`, `RigidBodyBuilder::enabled` to enable/disable a rigid-body
- without having to delete it.
+ without having to delete it. Disabling a rigid-body attached to a multibody joint isn’t supported yet.
- Add `Collider::set_enabled`, `Collider::is_enabled`, `ColliderBuilder::enabled` to enable/disable a collider
without having to delete it.
- Add `GenericJoint::set_enabled`, `GenericJoint::is_enabled` to enable/disable a joint without having to delete it.
+ Disabling a multibody joint isn’t supported yet.
+- Add `DynamicRayCastVehicleController`, a vehicle controller based on ray-casting and dynamic rigid-bodies (mostly
+ a port of the vehicle controller from Bullet physics).
### Modified
- Add the `QueryPipeline` as an optional argument to `PhysicsPipeline::step` and `CollisionPipeline::step`. If this
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index b949095..60ea169 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
-parry2d-f64 = "^0.11.1"
+parry2d-f64 = "0.12"
simba = "0.7"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index 2cc9004..115069c 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
-parry2d = "^0.11.1"
+parry2d = "0.12"
simba = "0.7"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index 929e688..79c2783 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
-parry3d-f64 = "^0.11.1"
+parry3d-f64 = "0.12"
simba = "0.7"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index 942e618..88c5281 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ], optional = true }
num-traits = "0.2"
nalgebra = "0.31"
-parry3d = "^0.11.1"
+parry3d = "0.12"
simba = "0.7"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/examples3d/vehicle_controller3.rs b/examples3d/vehicle_controller3.rs
index 622c008..4f36d9f 100644
--- a/examples3d/vehicle_controller3.rs
+++ b/examples3d/vehicle_controller3.rs
@@ -29,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) {
let hh = 0.15;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 1.0, 0.0]);
let vehicle_handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::cuboid(hw, hh, hw);
+ let collider = ColliderBuilder::cuboid(hw * 2.0, hh, hw).density(100.0);
colliders.insert_with_parent(collider, vehicle_handle, &mut bodies);
let mut tuning = WheelTuning::default();
@@ -37,10 +37,10 @@ pub fn init_world(testbed: &mut Testbed) {
tuning.suspension_damping = 10.0;
let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
let wheel_positions = [
- point![hw, -hh, hw],
- point![hw, -hh, -hw],
- point![-hw, -hh, hw],
- point![-hw, -hh, -hw],
+ point![hw * 1.5, -hh, hw],
+ point![hw * 1.5, -hh, -hw],
+ point![-hw * 1.5, -hh, hw],
+ point![-hw * 1.5, -hh, -hw],
];
for pos in wheel_positions {
@@ -57,7 +57,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centerx = shift * (num / 2) as f32;
let centery = rad;
- for j in 0usize..4 {
+ for j in 0usize..1 {
for k in 0usize..4 {
for i in 0..num {
let x = i as f32 * shift - centerx;
@@ -73,25 +73,11 @@ pub fn init_world(testbed: &mut Testbed) {
}
/*
- * Create some stairs.
- */
- let stair_width = 1.0;
- let stair_height = 0.1;
- for i in 0..10 {
- let x = i as f32 * stair_width / 2.0;
- let y = i as f32 * stair_height * 1.5 + 3.0;
-
- let collider = ColliderBuilder::cuboid(stair_width / 2.0, stair_height / 2.0, stair_width)
- .translation(vector![x, y, 0.0]);
- colliders.insert(collider);
- }
-
- /*
* Create a slope we can climb.
*/
let slope_angle = 0.2;
let slope_size = 2.0;
- let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
+ let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
.translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
.rotation(Vector::z() * slope_angle);
colliders.insert(collider);
@@ -110,60 +96,60 @@ pub fn init_world(testbed: &mut Testbed) {
.rotation(Vector::z() * impossible_slope_angle);
colliders.insert(collider);
- /*
- * Create a moving platform.
- */
- let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]);
- // .rotation(-0.3);
- let platform_handle = bodies.insert(body);
- let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0);
- colliders.insert_with_parent(collider, platform_handle, &mut bodies);
+ // /*
+ // * Create a moving platform.
+ // */
+ // let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]);
+ // // .rotation(-0.3);
+ // let platform_handle = bodies.insert(body);
+ // let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0);
+ // colliders.insert_with_parent(collider, platform_handle, &mut bodies);
/*
* More complex ground.
*/
- let ground_size = Vector::new(10.0, 1.0, 10.0);
+ let ground_size = Vector::new(10.0, 0.4, 10.0);
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
- (i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos()
- + (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
+ -(i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos()
+ - (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
});
let collider =
- ColliderBuilder::heightfield(heights, ground_size).translation(vector![-8.0, 5.0, 0.0]);
+ ColliderBuilder::heightfield(heights, ground_size).translation(vector![-7.0, 0.0, 0.0]);
colliders.insert(collider);
- /*
- * A tilting dynamic body with a limited joint.
- */
- let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]);
- let ground_handle = bodies.insert(ground);
- let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
- let handle = bodies.insert(body);
- let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0);
- colliders.insert_with_parent(collider, handle, &mut bodies);
- let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]);
- impulse_joints.insert(ground_handle, handle, joint, true);
-
- /*
- * Setup a callback to move the platform.
- */
- testbed.add_callback(move |_, physics, _, run_state| {
- let linvel = vector![
- (run_state.time * 2.0).sin() * 2.0,
- (run_state.time * 5.0).sin() * 1.5,
- 0.0
- ];
- // let angvel = run_state.time.sin() * 0.5;
-
- // Update the velocity-based kinematic body by setting its velocity.
- if let Some(platform) = physics.bodies.get_mut(platform_handle) {
- platform.set_linvel(linvel, true);
- // NOTE: interaction with rotating platforms isn’t handled very well yet.
- // platform.set_angvel(angvel, true);
- }
- });
+ // /*
+ // * A tilting dynamic body with a limited joint.
+ // */
+ // let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]);
+ // let ground_handle = bodies.insert(ground);
+ // let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
+ // let handle = bodies.insert(body);
+ // let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0);
+ // colliders.insert_with_parent(collider, handle, &mut bodies);
+ // let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]);
+ // impulse_joints.insert(ground_handle, handle, joint, true);
+
+ // /*
+ // * Setup a callback to move the platform.
+ // */
+ // testbed.add_callback(move |_, physics, _, run_state| {
+ // let linvel = vector![
+ // (run_state.time * 2.0).sin() * 2.0,
+ // (run_state.time * 5.0).sin() * 1.5,
+ // 0.0
+ // ];
+ // // let angvel = run_state.time.sin() * 0.5;
+ //
+ // // Update the velocity-based kinematic body by setting its velocity.
+ // if let Some(platform) = physics.bodies.get_mut(platform_handle) {
+ // platform.set_linvel(linvel, true);
+ // // NOTE: interaction with rotating platforms isn’t handled very well yet.
+ // // platform.set_angvel(angvel, true);
+ // }
+ // });
/*
* Set up the testbed.
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 50b77c8..1052c55 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -652,16 +652,16 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
for key in events.get_pressed() {
match *key {
KeyCode::Right => {
- steering_angle += -0.1;
+ steering_angle += -0.7;
}
KeyCode::Left => {
- steering_angle += 0.1;
+ steering_angle += 0.7;
}
KeyCode::Up => {
- engine_force += 0.1;
+ engine_force += 30.0;
}
KeyCode::Down => {
- engine_force += -0.1;
+ engine_force += -30.0;
}
_ => {}
}
@@ -1308,10 +1308,10 @@ fn update_testbed(
|| state.prev_flags.contains(TestbedStateFlags::WIREFRAME)
!= state.flags.contains(TestbedStateFlags::WIREFRAME)
{
- // graphics.toggle_wireframe_mode(
- // &harness.physics.colliders,
- // state.flags.contains(TestbedStateFlags::WIREFRAME),
- // )
+ graphics.toggle_wireframe_mode(
+ &harness.physics.colliders,
+ state.flags.contains(TestbedStateFlags::WIREFRAME),
+ )
}
if state.prev_flags.contains(TestbedStateFlags::SLEEP)
generated by cgit (git 2.34.1) at 2026-02-05 15:30:10 +0000