diff options
Diffstat (limited to 'examples3d')
31 files changed, 433 insertions, 462 deletions
diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs index e5dee33..facdec1 100644 --- a/examples3d/ccd3.rs +++ b/examples3d/ccd3.rs @@ -1,15 +1,13 @@ -use na::{Point3, Vector3}; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; fn create_wall( testbed: &mut Testbed, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, - offset: Vector3<f32>, + offset: Vector<f32>, stack_height: usize, - half_extents: Vector3<f32>, + half_extents: Vector<f32>, ) { let shift = half_extents * 2.0; let mut k = 0; @@ -23,22 +21,18 @@ fn create_wall( - stack_height as f32 * half_extents.z; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(vector![x, y, z]) + .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); - colliders.insert(collider, handle, bodies); + colliders.insert_with_parent(collider, handle, bodies); k += 1; if k % 2 == 0 { - testbed.set_initial_body_color( - handle, - Point3::new(255. / 255., 131. / 255., 244.0 / 255.), - ); + testbed.set_initial_body_color(handle, [255. / 255., 131. / 255., 244.0 / 255.]); } else { - testbed.set_initial_body_color( - handle, - Point3::new(131. / 255., 255. / 255., 244.0 / 255.), - ); + testbed.set_initial_body_color(handle, [131. / 255., 255. / 255., 244.0 / 255.]); } } } @@ -59,11 +53,11 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height, 0.0) + .translation(vector![0.0, -ground_height, 0.0]) .build(); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); - colliders.insert(collider, ground_handle, &mut bodies); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); /* * Create the pyramids. @@ -79,18 +73,18 @@ pub fn init_world(testbed: &mut Testbed) { testbed, &mut bodies, &mut colliders, - Vector3::new(x, shift_y, 0.0), + vector![x, shift_y, 0.0], num_z, - Vector3::new(0.5, 0.5, 1.0), + vector![0.5, 0.5, 1.0], ); create_wall( testbed, &mut bodies, &mut colliders, - Vector3::new(x, shift_y, shift_z), + vector![x, shift_y, shift_z], num_z, - Vector3::new(0.5, 0.5, 1.0), + vector![0.5, 0.5, 1.0], ); } @@ -104,35 +98,45 @@ pub fn init_world(testbed: &mut Testbed) { .sensor(true) .build(); let rigid_body = RigidBodyBuilder::new_dynamic() - .linvel(1000.0, 0.0, 0.0) - .translation(-20.0, shift_y + 2.0, 0.0) + .linvel(vector![1000.0, 0.0, 0.0]) + .translation(vector![-20.0, shift_y + 2.0, 0.0]) .ccd_enabled(true) .build(); let sensor_handle = bodies.insert(rigid_body); - colliders.insert(collider, sensor_handle, &mut bodies); + colliders.insert_with_parent(collider, sensor_handle, &mut bodies); // Second rigid-body with CCD enabled. let collider = ColliderBuilder::ball(1.0).density(10.0).build(); let rigid_body = RigidBodyBuilder::new_dynamic() - .linvel(1000.0, 0.0, 0.0) - .translation(-20.0, shift_y + 2.0, shift_z) + .linvel(vector![1000.0, 0.0, 0.0]) + .translation(vector![-20.0, shift_y + 2.0, shift_z]) .ccd_enabled(true) .build(); let handle = bodies.insert(rigid_body); - colliders.insert(collider.clone(), handle, &mut bodies); - testbed.set_initial_body_color(handle, Point3::new(0.2, 0.2, 1.0)); + colliders.insert_with_parent(collider.clone(), handle, &mut bodies); + testbed.set_initial_body_color(handle, [0.2, 0.2, 1.0]); // Callback that will be executed on the main loop to handle proximities. testbed.add_callback(move |mut graphics, physics, events, _| { while let Ok(prox) = events.intersection_events.try_recv() { let color = if prox.intersecting { - Point3::new(1.0, 1.0, 0.0) + [1.0, 1.0, 0.0] } else { - Point3::new(0.5, 0.5, 1.0) + [0.5, 0.5, 1.0] }; - let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent(); - let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent(); + let parent_handle1 = physics + .colliders + .get(prox.collider1) + .unwrap() + .parent() + .unwrap(); + let parent_handle2 = physics + .colliders + .get(prox.collider2) + .unwrap() + .parent() + .unwrap(); if let Some(graphics) = &mut graphics { if parent_handle1 != ground_handle && parent_handle1 != sensor_handle { @@ -149,5 +153,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); + testbed.look_at(point![100.0, 100.0, 100.0], Point::origin()); } diff --git a/examples3d/collision_groups3.rs b/examples3d/collision_groups3.rs index a79a4bc..8db86fa 100644 --- a/examples3d/collision_groups3.rs +++ b/examples3d/collision_groups3.rs @@ -1,6 +1,4 @@ -use na::Point3; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height, 0.0) + .translation(vector![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); + colliders.insert_with_parent(collider, floor_handle, &mut bodies); /* * Setup groups @@ -34,23 +32,24 @@ pub fn init_world(testbed: &mut Testbed) { * 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) + .translation(vector![0.0, 1.0, 0.0]) .collision_groups(GREEN_GROUP) .build(); - let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies); + let green_collider_handle = + colliders.insert_with_parent(green_floor, floor_handle, &mut bodies); - testbed.set_initial_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0)); + testbed.set_initial_collider_color(green_collider_handle, [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) + .translation(vector![0.0, 2.0, 0.0]) .collision_groups(BLUE_GROUP) .build(); - let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies); + let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies); - testbed.set_initial_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0)); + testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]); /* * Create the cubes @@ -72,17 +71,19 @@ pub fn init_world(testbed: &mut Testbed) { // Alternate between the green and blue groups. let (group, color) = if k % 2 == 0 { - (GREEN_GROUP, Point3::new(0.0, 1.0, 0.0)) + (GREEN_GROUP, [0.0, 1.0, 0.0]) } else { - (BLUE_GROUP, Point3::new(0.0, 0.0, 1.0)) + (BLUE_GROUP, [0.0, 0.0, 1.0]) }; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(vector![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); + colliders.insert_with_parent(collider, handle, &mut bodies); testbed.set_initial_body_color(handle, color); } @@ -93,5 +94,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin()); + testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin()); } diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs index 51523f3..f5f1de1 100644 --- a/examples3d/compound3.rs +++ b/examples3d/compound3.rs @@ -1,6 +1,4 @@ -use na::{Isometry3, Point3}; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -18,11 +16,11 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height, 0.0) + .translation(vector![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); + colliders.insert_with_parent(collider, handle, &mut bodies); /* * Create the cubes @@ -46,40 +44,42 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shift * 2.0 - centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(vector![x, y, z]) + .build(); let handle = bodies.insert(rigid_body); // First option: attach several colliders to a single rigid-body. if j < numy / 2 { let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build(); let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad) - .translation(rad * 10.0, rad * 10.0, 0.0) + .translation(vector![rad * 10.0, rad * 10.0, 0.0]) .build(); let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad) - .translation(-rad * 10.0, rad * 10.0, 0.0) + .translation(vector![-rad * 10.0, rad * 10.0, 0.0]) .build(); - colliders.insert(collider1, handle, &mut bodies); - colliders.insert(collider2, handle, &mut bodies); - colliders.insert(collider3, handle, &mut bodies); + colliders.insert_with_parent(collider1, handle, &mut bodies); + colliders.insert_with_parent(collider2, handle, &mut bodies); + colliders.insert_with_parent(collider3, handle, &mut bodies); } else { // Second option: create a compound shape and attach it to a single collider. let shapes = vec![ ( - Isometry3::identity(), + Isometry::identity(), SharedShape::cuboid(rad * 10.0, rad, rad), ), ( - Isometry3::translation(rad * 10.0, rad * 10.0, 0.0), + Isometry::translation(rad * 10.0, rad * 10.0, 0.0), SharedShape::cuboid(rad, rad * 10.0, rad), ), ( - Isometry3::translation(-rad * 10.0, rad * 10.0, 0.0), + Isometry::translation(-rad * 10.0, rad * 10.0, 0.0), SharedShape::cuboid(rad, rad * 10.0, rad), ), ]; let collider = ColliderBuilder::compound(shapes).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); } } } @@ -91,5 +91,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); + testbed.look_at(point![100.0, 100.0, 100.0], Point::origin()); } diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs index 1d19597..5676f6d 100644 --- a/examples3d/convex_decomposition3.rs +++ b/examples3d/convex_decomposition3.rs @@ -1,8 +1,6 @@ -use na::Point3; use obj::raw::object::Polygon; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape}; use rapier3d::parry::bounding_volume; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; use std::fs::File; use std::io::BufReader; @@ -26,11 +24,11 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height, 0.0) + .translation(vector![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); + colliders.insert_with_parent(collider, handle, &mut bodies); /* * Create the convex decompositions. @@ -52,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) { let mut vertices: Vec<_> = model .positions .iter() - .map(|v| Point3::new(v.0, v.1, v.2)) + .map(|v| point![v.0, v.1, v.2]) .collect(); use std::iter::FromIterator; let indices: Vec<_> = model @@ -90,12 +88,14 @@ pub fn init_world(testbed: &mut Testbed) { let y = (igeom / width) as f32 * shift + 4.0; let z = k as f32 * shift; - let body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let body = RigidBodyBuilder::new_dynamic() + .translation(vector![x, y, z]) + .build(); let handle = bodies.insert(body); for shape in &shapes { let collider = ColliderBuilder::new(shape.clone()).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); } } } @@ -105,7 +105,7 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); + testbed.look_at(point![100.0, 100.0, 100.0], Point::origin()); } fn models() -> Vec<String> { diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs index c43a781..896eb03 100644 --- a/examples3d/convex_polyhedron3.rs +++ b/examples3d/convex_polyhedron3.rs @@ -1,8 +1,6 @@ -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 rapier3d::prelude::*; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -20,11 +18,11 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height, 0.0) + .translation(vector![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); + colliders.insert_with_parent(collider, handle, &mut bodies); /* * Create the polyhedra @@ -50,17 +48,19 @@ pub fn init_world(testbed: &mut Testbed) { let mut points = Vec::new(); for _ in 0..10 { - let pt: Point3<f32> = distribution.sample(&mut rng); + let pt: Point<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 rigid_body = RigidBodyBuilder::new_dynamic() + .translation(vector![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); + colliders.insert_with_parent(collider, handle, &mut bodies); } } } @@ -69,5 +69,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin()); + testbed.look_at(point![30.0, 30.0, 30.0], Point::origin()); } diff --git a/examples3d/damping3.rs b/examples3d/damping3.rs index 3847ceb..c634a0a 100644 --- a/examples3d/damping3.rs +++ b/examples3d/damping3.rs @@ -1,6 +1,4 @@ -use na::{Point3, Vector3}; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -24,9 +22,9 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rb = RigidBodyBuilder::new_dynamic() - .translation(x, y, 0.0) - .linvel(x * 10.0, y * 10.0, 0.0) - .angvel(Vector3::z() * 100.0) + .translation(vector![x, y, 0.0]) + .linvel(vector![x * 10.0, y * 10.0, 0.0]) + .angvel(Vector::z() * 100.0) .linear_damping((i + 1) as f32 * subdiv * 10.0) .angular_damping((num - i) as f32 * subdiv * 10.0) .build(); @@ -34,12 +32,12 @@ pub fn init_world(testbed: &mut Testbed) { // Build the collider. let co = ColliderBuilder::cuboid(rad, rad, rad).build(); - colliders.insert(co, rb_handle, &mut bodies); + colliders.insert_with_parent(co, rb_handle, &mut bodies); } /* * Set up the testbed. */ - testbed.set_world_with_params(bodies, colliders, joints, Vector3::zeros(), ()); - testbed.look_at(Point3::new(2.0, 2.5, 20.0), Point3::new(2.0, 2.5, 0.0)); + testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ()); + testbed.look_at(point![2.0, 2.5, 20.0], point![2.0, 2.5, 0.0]); } diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs index 00a0ff3..12d58ec 100644 --- a/examples3d/debug_add_remove_collider3.rs +++ b/examples3d/debug_add_remove_collider3.rs @@ -1,6 +1,4 @@ -use na::Point3; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -17,22 +15,23 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height, 0.0) + .translation(vector![0.0, -ground_height, 0.0]) .build(); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build(); - let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); + let mut ground_collider_handle = + colliders.insert_with_parent(collider, ground_handle, &mut bodies); /* * Rolling ball */ let ball_rad = 0.1; let rb = RigidBodyBuilder::new_dynamic() - .translation(0.0, 0.2, 0.0) + .translation(vector![0.0, 0.2, 0.0]) .build(); let ball_handle = bodies.insert(rb); let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); - colliders.insert(collider, ball_handle, &mut bodies); + colliders.insert_with_parent(collider, ball_handle, &mut bodies); testbed.add_callback(move |_, physics, _, _| { // Remove then re-add the ground collider. @@ -46,14 +45,15 @@ pub fn init_world(testbed: &mut Testbed) { true, ) .unwrap(); - ground_collider_handle = physics - .colliders - .insert(coll, ground_handle, &mut physics.bodies); + ground_collider_handle = + physics + .colliders + .insert_with_parent(coll, ground_handle, &mut physics.bodies); }); /* * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin()); + testbed.look_at(point![10.0, 10.0, 10.0], Point::origin()); } diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs index a524f97..864782f 100644 --- a/examples3d/debug_big_colliders3.rs +++ b/examples3d/debug_big_colliders3.rs @@ -1,6 +1,4 @@ -use na::{Point3, Vector3}; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, SharedShape}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -16,9 +14,9 @@ pub fn init_world(testbed: &mut Testbed) { */ let rigid_body = RigidBodyBuilder::new_static().build(); let handle = bodies.insert(rigid_body); - let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis())); + let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis())); let collider = ColliderBuilder::new(halfspace).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); let mut curr_y = 0.0; let mut curr_width = 10_000.0; @@ -28,11 +26,11 @@ pub fn init_world(testbed: &mut Testbed) { curr_y += curr_height * 4.0; let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(0.0, curr_y, 0.0) + .translation(vector![0.0, curr_y, 0.0]) .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); curr_width /= 5.0; } @@ -41,5 +39,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin()); + testbed.look_at(point![10.0, 10.0, 10.0], Point::origin()); } diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs index cba9d01..ea39a8a 100644 --- a/examples3d/debug_boxes3.rs +++ b/examples3d/debug_boxes3.rs @@ -1,6 +1,4 @@ -use na::{Point3, Vector3}; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -19,28 +17,28 @@ pub fn init_world(testbed: &mut Testbed) { for _ in 0..6 { let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height, 0.0) + .translation(vector![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); + colliders.insert_with_parent(collider, handle, &mut bodies); } // Build the dynamic box rigid body. for _ in 0..6 { let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(1.1, 0.0, 0.0) - .rotation(Vector3::new(0.8, 0.2, 0.1)) + .translation(vector![1.1, 0.0, 0.0]) + .rotation(vector![0.8, 0.2, 0.1]) .can_sleep(false) .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); } /* * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin()); + testbed.look_at(point![10.0, 10.0, 10.0], Point::origin()); } diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs index 0b68b62..88908c1 100644 --- a/examples3d/debug_cylinder3.rs +++ b/examples3d/debug_cylinder3.rs @@ -1,6 +1,4 @@ -use na::Point3; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; // This shows a bug when a cylinder is in contact with a very large @@ -21,11 +19,11 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height, 0.0) + .translation(vector![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); + colliders.insert_with_parent(collider, handle, &mut bodies); /* * Create the cubes @@ -47,14 +45,16 @@ pub fn init_world(testbed: &mut Testbed) { let z = -centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(vector![x, y, z]) + .build(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cylinder(rad, rad).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); /* * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); + testbed.look_at(point![100.0, 100.0, 100.0], Point::origin()); } diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs index 6a4589b..f66d8ce 100644 --- a/examples3d/debug_dynamic_collider_add3.rs +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -1,6 +1,4 @@ -use na::{Isometry3, Point3, Vector3}; -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::prelude::*; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -17,30 +15,30 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; let rigid_body = RigidBo |