diff options
| -rw-r--r-- | examples3d/heightfield3.rs | 26 | ||||
| -rw-r--r-- | examples3d/trimesh3.rs | 26 |
2 files changed, 44 insertions, 8 deletions
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index 6558614..bc2ac98 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -1,6 +1,6 @@ -use na::{ComplexField, DMatrix, Point3, Vector3}; +use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet, ColliderShape}; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -58,14 +58,32 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = match j % 5 { + let collider = match j % 6 { 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), 1 => ColliderBuilder::ball(rad).build(), // Rounded cylinders are much more efficient that cylinder, even if the // rounding margin is small. 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(), 3 => ColliderBuilder::cone(rad, rad).build(), - _ => ColliderBuilder::capsule_y(rad, rad).build(), + 4 => ColliderBuilder::capsule_y(rad, rad).build(), + _ => { + let shapes = vec![ + ( + Isometry3::identity(), + ColliderShape::cuboid(rad, rad / 2.0, rad / 2.0), + ), + ( + Isometry3::translation(rad, 0.0, 0.0), + ColliderShape::cuboid(rad / 2.0, rad, rad / 2.0), + ), + ( + Isometry3::translation(-rad, 0.0, 0.0), + ColliderShape::cuboid(rad / 2.0, rad, rad / 2.0), + ), + ]; + + ColliderBuilder::compound(shapes).build() + } }; colliders.insert(collider, handle, &mut bodies); diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index d753988..e03ec6d 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -1,6 +1,6 @@ -use na::{ComplexField, DMatrix, Point3, Vector3}; +use na::{ComplexField, DMatrix, Isometry3, Point3, Vector3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet, HeightField}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet, ColliderShape, HeightField}; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -63,14 +63,32 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = match j % 5 { + let collider = match j % 6 { 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), 1 => ColliderBuilder::ball(rad).build(), // Rounded cylinders are much more efficient that cylinder, even if the // rounding margin is small. 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(), 3 => ColliderBuilder::cone(rad, rad).build(), - _ => ColliderBuilder::capsule_y(rad, rad).build(), + 4 => ColliderBuilder::capsule_y(rad, rad).build(), + _ => { + let shapes = vec![ + ( + Isometry3::identity(), + ColliderShape::cuboid(rad, rad / 2.0, rad / 2.0), + ), + ( + Isometry3::translation(rad, 0.0, 0.0), + ColliderShape::cuboid(rad / 2.0, rad, rad / 2.0), + ), + ( + Isometry3::translation(-rad, 0.0, 0.0), + ColliderShape::cuboid(rad / 2.0, rad, rad / 2.0), + ), + ]; + + ColliderBuilder::compound(shapes).build() + } }; colliders.insert(collider, handle, &mut bodies); |