diff options
76 files changed, 6664 insertions, 4297 deletions
diff --git a/examples2d/one_way_platforms2.rs b/examples2d/one_way_platforms2.rs index dd50201..d16d0cc 100644 --- a/examples2d/one_way_platforms2.rs +++ b/examples2d/one_way_platforms2.rs @@ -90,7 +90,7 @@ pub fn init_world(testbed: &mut Testbed) { * depending on their position. */ testbed.add_callback(move |graphics, physics, _, run_state| { - if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 { + if run_state.timestep_id % 200 == 0 && physics.bodies.len() <= 7 { // Spawn a new cube. let collider = ColliderBuilder::cuboid(1.5, 2.0); let body = RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]); diff --git a/examples2d/rope_joints2.rs b/examples2d/rope_joints2.rs index 451dd1d..ec9b201 100644 --- a/examples2d/rope_joints2.rs +++ b/examples2d/rope_joints2.rs @@ -51,9 +51,7 @@ pub fn init_world(testbed: &mut Testbed) { let collider = ColliderBuilder::ball(rad); colliders.insert_with_parent(collider, child_handle, &mut bodies); - let joint = RopeJointBuilder::new() - .local_anchor2(point![0.0, 0.0]) - .limits([2.0, 2.0]); + let joint = RopeJointBuilder::new(2.0).local_anchor2(point![0.0, 0.0]); impulse_joints.insert(character_handle, child_handle, joint, true); /* diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index ad4d226..851bc8a 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -34,7 +34,10 @@ mod heightfield3; mod joints3; // mod joints3; mod character_controller3; +mod debug_chain_high_mass_ratio3; +mod debug_cube_high_mass_ratio3; mod debug_internal_edges3; +mod debug_long_chain3; mod joint_motor_position3; mod keva3; mod locked_rotations3; @@ -45,8 +48,10 @@ mod primitives3; mod restitution3; mod rope_joints3; mod sensor3; +mod spring_joints3; mod trimesh3; mod vehicle_controller3; +mod vehicle_joints3; fn demo_name_from_command_line() -> Option<String> { let mut args = std::env::args(); @@ -105,8 +110,10 @@ pub fn main() { ("Restitution", restitution3::init_world), ("Rope Joints", rope_joints3::init_world), ("Sensor", sensor3::init_world), + ("Spring Joints", spring_joints3::init_world), ("TriMesh", trimesh3::init_world), ("Vehicle controller", vehicle_controller3::init_world), + ("Vehicle joints", vehicle_joints3::init_world), ("Keva tower", keva3::init_world), ("Newton cradle", newton_cradle3::init_world), ("(Debug) multibody_joints", debug_articulations3::init_world), @@ -122,6 +129,15 @@ pub fn main() { ), ("(Debug) friction", debug_friction3::init_world), ("(Debug) internal edges", debug_internal_edges3::init_world), + ("(Debug) long chain", debug_long_chain3::init_world), + ( + "(Debug) high mass ratio: chain", + debug_chain_high_mass_ratio3::init_world, + ), + ( + "(Debug) high mass ratio: cube", + debug_cube_high_mass_ratio3::init_world, + ), ("(Debug) triangle", debug_triangle3::init_world), ("(Debug) trimesh", debug_trimesh3::init_world), ("(Debug) cylinder", debug_cylinder3::init_world), diff --git a/examples3d/debug_chain_high_mass_ratio3.rs b/examples3d/debug_chain_high_mass_ratio3.rs new file mode 100644 index 0000000..809311e --- /dev/null +++ b/examples3d/debug_chain_high_mass_ratio3.rs @@ -0,0 +1,73 @@ +use rapier3d::prelude::*; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let mut impulse_joints = ImpulseJointSet::new(); + let mut multibody_joints = MultibodyJointSet::new(); + let use_articulations = false; + + /* + * Create a chain with a very heavy ball at the end. + */ + let num = 17; + let rad = 0.2; + + let mut body_handles = Vec::new(); + + for i in 0..num { + let fi = i as f32; + + let status = if i == 0 { + RigidBodyType::Fixed + } else { + RigidBodyType::Dynamic + }; + + let ball_rad = if i == num - 1 { rad * 10.0 } else { rad }; + let shift1 = rad * 1.1; + let shift2 = ball_rad + rad * 0.1; + let z = if i == 0 { + 0.0 + } else { + (fi - 1.0) * 2.0 * shift1 + shift1 + shift2 + }; + + let rigid_body = RigidBodyBuilder::new(status) + .translation(vector![0.0, 0.0, z]) + .additional_solver_iterations(16); + let child_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::ball(ball_rad); + colliders.insert_with_parent(collider, child_handle, &mut bodies); + + // Vertical joint. + if i > 0 { + let parent_handle = *body_handles.last().unwrap(); + let joint = if i == 1 { + SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift1 * 2.0]) + } else { + SphericalJointBuilder::new() + .local_anchor1(point![0.0, 0.0, shift1]) + .local_anchor2(point![0.0, 0.0, -shift2]) + }; + + if use_articulations { + multibody_joints.insert(parent_handle, child_handle, joint, true); + } else { + impulse_joints.insert(parent_handle, child_handle, joint, true); + } + } + + body_handles.push(child_handle); + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![10.0, 10.0, 10.0], Point::origin()); +} diff --git a/examples3d/debug_cube_high_mass_ratio3.rs b/examples3d/debug_cube_high_mass_ratio3.rs new file mode 100644 index 0000000..ffaf793 --- /dev/null +++ b/examples3d/debug_cube_high_mass_ratio3.rs @@ -0,0 +1,96 @@ +use rapier3d::prelude::*; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let num_levels = 4; + let stick_len = 2.0; + let stick_rad = 0.2; + + /* + * Floor. + */ + let floor_body = + RigidBodyBuilder::fixed().translation(vector![0.0, -stick_len - stick_rad, 0.0]); + let floor_handle = bodies.insert(floor_body); + let floor_cube = ColliderBuilder::cuboid(stick_len, stick_len, stick_len); + colliders.insert_with_parent(floor_cube, floor_handle, &mut bodies); + + /* + * Create a stack of capsule with a very heavy cube on top. + */ + for i in 0..num_levels { + let fi = i as f32; + + let body = RigidBodyBuilder::dynamic().translation(vector![ + 0.0, + fi * stick_rad * 4.0, + -(stick_len / 2.0 - stick_rad) + ]); + let handle = bodies.insert(body); + let capsule = ColliderBuilder::cuboid(stick_len / 2.0, stick_rad, stick_rad); + colliders.insert_with_parent(capsule, handle, &mut bodies); + + let body = RigidBodyBuilder::dynamic().translation(vector![ + 0.0, + fi * stick_rad * 4.0, + (stick_len / 2.0 - stick_rad) + ]); + let handle = bodies.insert(body); + let capsule = ColliderBuilder::cuboid(stick_len / 2.0, stick_rad, stick_rad); + colliders.insert_with_parent(capsule, handle, &mut bodies); + + let body = RigidBodyBuilder::dynamic().translation(vector![ + -(stick_len / 2.0 - stick_rad), + (fi + 0.5) * stick_rad * 4.0, + 0.0 + ]); + let handle = bodies.insert(body); + let capsule = ColliderBuilder::cuboid(stick_rad, stick_rad, stick_len / 2.0); + colliders.insert_with_parent(capsule, handle, &mut bodies); + + let body = RigidBodyBuilder::dynamic().translation(vector![ + (stick_len / 2.0 - stick_rad), + (fi + 0.5) * stick_rad * 4.0, + 0.0 + ]); + let handle = bodies.insert(body); + let capsule = ColliderBuilder::cuboid(stick_rad, stick_rad, stick_len / 2.0); + colliders.insert_with_parent(capsule, handle, &mut bodies); + } + + /* + * Big cube on top. + */ + let cube_len = stick_len * 2.0; + let floor_body = RigidBodyBuilder::dynamic() + .translation(vector![ + 0.0, + cube_len / 2.0 + (num_levels as f32 - 0.25) * stick_rad * 4.0, + 0.0 + ]) + .additional_solver_iterations(36); + let floor_handle = bodies.insert(floor_body); + let floor_cube = ColliderBuilder::cuboid(cube_len / 2.0, cube_len / 2.0, cube_len / 2.0); + colliders.insert_with_parent(floor_cube, floor_handle, &mut bodies); + + let small_mass = + MassProperties::from_cuboid(1.0, vector![stick_rad, stick_rad, stick_len / 2.0]).mass(); + let big_mass = + MassProperties::from_cuboid(1.0, vector![cube_len / 2.0, cube_len / 2.0, cube_len / 2.0]) + .mass(); + println!("debug_cube_high_mass_ratio3: small stick mass: {small_mass}, big cube mass: {big_mass}, mass_ratio: {}", big_mass / small_mass); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![10.0, 10.0, 10.0], Point::origin()); +} diff --git a/examples3d/debug_long_chain3.rs b/examples3d/debug_long_chain3.rs new file mode 100644 index 0000000..e2bb990 --- /dev/null +++ b/examples3d/debug_long_chain3.rs @@ -0,0 +1,63 @@ +use rapier3d::prelude::*; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let mut impulse_joints = ImpulseJointSet::new(); + let mut multibody_joints = MultibodyJointSet::new(); + let use_articulations = false; + + /* + * Create the long chain. + */ + let num = 100; + let rad = 0.2; + let shift = rad * 2.2; + + let mut body_handles = Vec::new(); + + for i in 0..num { + let fi = i as f32; + + let status = if i == 0 { + RigidBodyType::Fixed + } else { + RigidBodyType::Dynamic + }; + + let rigid_body = RigidBodyBuilder::new(status).translation(vector![0.0, 0.0, fi * shift]); + let child_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::ball(rad); + colliders.insert_with_parent(collider, child_handle, &mut bodies); + + // Vertical joint. + if i > 0 { + let parent_handle = *body_handles.last().unwrap(); + let joint = if i == 1 { + SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]) + } else { + SphericalJointBuilder::new() + .local_anchor1(point![0.0, 0.0, shift / 2.0]) + .local_anchor2(point![0.0, 0.0, -shift / 2.0]) + }; + + if use_articulations { + multibody_joints.insert(parent_handle, child_handle, joint, true); + } else { + impulse_joints.insert(parent_handle, child_handle, joint, true); + } + } + + body_handles.push(child_handle); + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![10.0, 10.0, 10.0], Point::origin()); +} diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs index dc4deed..18a11e7 100644 --- a/examples3d/joints3.rs +++ b/examples3d/joints3.rs @@ -20,7 +20,6 @@ fn create_coupled_joints( let joint1 = GenericJointBuilder::new(JointAxesMask::empty()) .limits(JointAxis::X, [-3.0, 3.0]) .limits(JointAxis::Y, [0.0, 3.0]) - .limits(JointAxis::Z, [0.0, 3.0]) .coupled_axes(JointAxesMask::Y | JointAxesMask::Z); if use_articulations { diff --git a/examples3d/one_way_platforms3.rs b/examples3d/one_way_platforms3.rs index 3b2715a..1a5704c 100644 --- a/examples3d/one_way_platforms3.rs +++ b/examples3d/one_way_platforms3.rs @@ -90,7 +90,7 @@ pub fn init_world(testbed: &mut Testbed) { * depending on their position. */ testbed.add_callback(move |graphics, physics, _, run_state| { - if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 { + if run_state.timestep_id % 200 == 0 && physics.bodies.len() <= 7 { // Spawn a new cube. let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.5); let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 6.0, 20.0]); diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs index d42cb76..9025afa 100644 --- a/examples3d/platform3.rs +++ b/examples3d/platform3.rs @@ -29,12 +29,12 @@ pub fn init_world(testbed: &mut Testbed) { let shift = rad * 2.0; let centerx = shift * num as f32 / 2.0; - let centery = shift / 2.0 + 3.04; let centerz = shift * num as f32 / 2.0; for i in 0usize..num { for j in 0usize..num { for k in 0usize..num { + let centery = if j >= num / 2 { 5.0 } else { 3.0 }; let x = i as f32 * shift - centerx; let y = j as f32 * shift + centery; let z = k as f32 * shift - centerz; @@ -51,11 +51,8 @@ pub fn init_world(testbed: &mut Testbed) { /* * Setup a velocity-based kinematic rigid body. */ - let platform_body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![ - 0.0, - 1.5 + 0.8, - -10.0 * rad - ]); + let platform_body = + RigidBodyBuilder::kinematic_velocity_based().translation(vector![0.0, 1.5 + 0.8, 0.0]); let velocity_based_platform_handle = bodies.insert(platform_body); let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0); colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies); @@ -65,8 +62,8 @@ pub fn init_world(testbed: &mut Testbed) { */ let platform_body = RigidBodyBuilder::kinematic_position_based().translation(vector![ 0.0, - 2.0 + 1.5 + 0.8, - -10.0 * rad + 3.0 + 1.5 + 0.8, + 0.0 ]); let position_based_platform_handle = bodies.insert(platform_body); let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0); @@ -75,22 +72,17 @@ pub fn init_world(testbed: &mut Testbed) { /* * Setup a callback to control the platform. */ - let mut count = 0; testbed.add_callback(move |_, physics, _, run_state| { - count += 1; - if count % 100 > 50 { - return; - } - let velocity = vector![</ |