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-rw-r--r--examples3d/Cargo.toml2
-rw-r--r--examples3d/all_examples3.rs4
-rw-r--r--examples3d/collision_groups3.rs102
-rw-r--r--examples3d/debug_boxes3.rs32
-rw-r--r--examples3d/debug_cylinder3.rs65
-rw-r--r--examples3d/heightfield3.rs18
-rw-r--r--examples3d/primitives3.rs27
-rw-r--r--examples3d/trimesh3.rs18
8 files changed, 228 insertions, 40 deletions
diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index efc3cce..5362554 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
[dependencies]
rand = "0.7"
Inflector = "0.11"
-nalgebra = "0.22"
+nalgebra = "0.23"
[dependencies.rapier_testbed3d]
path = "../build/rapier_testbed3d"
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 64eb5b6..eeb9736 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -11,8 +11,10 @@ use rapier_testbed3d::Testbed;
use std::cmp::Ordering;
mod add_remove3;
+mod collision_groups3;
mod compound3;
mod debug_boxes3;
+mod debug_cylinder3;
mod debug_triangle3;
mod debug_trimesh3;
mod domino3;
@@ -64,6 +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),
@@ -76,6 +79,7 @@ pub fn main() {
("(Debug) boxes", debug_boxes3::init_world),
("(Debug) triangle", debug_triangle3::init_world),
("(Debug) trimesh", debug_trimesh3::init_world),
+ ("(Debug) cylinder", debug_cylinder3::init_world),
];
// Lexicographic sort, with stress tests moved at the end of the list.
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/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs
index 7237fd9..919cdd6 100644
--- a/examples3d/debug_boxes3.rs
+++ b/examples3d/debug_boxes3.rs
@@ -17,22 +17,26 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 0.1;
- let rigid_body = RigidBodyBuilder::new_static()
- .translation(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);
+ for _ in 0..6 {
+ let rigid_body = RigidBodyBuilder::new_static()
+ .translation(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);
+ }
// Build the dynamic box rigid body.
- let rigid_body = RigidBodyBuilder::new_dynamic()
- .translation(1.1, 0.0, 0.0)
- .rotation(Vector3::new(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);
+ 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))
+ .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);
+ }
/*
* Set up the testbed.
diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs
new file mode 100644
index 0000000..0717c67
--- /dev/null
+++ b/examples3d/debug_cylinder3.rs
@@ -0,0 +1,65 @@
+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+// This shows a bug when a cylinder is in contact with a very large
+// but very thin cuboid. In this case the EPA returns an incorrect
+// contact normal, resulting in the cylinder falling through the floor.
+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 = 100.1;
+ let ground_height = 0.1;
+
+ let rigid_body = RigidBodyBuilder::new_static()
+ .translation(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);
+
+ /*
+ * Create the cubes
+ */
+ let num = 1;
+ let rad = 1.0;
+
+ let shiftx = rad * 2.0 + rad;
+ let shifty = rad * 2.0 + rad;
+ let shiftz = rad * 2.0 + rad;
+ let centerx = shiftx * (num / 2) as f32;
+ let centery = shifty / 2.0;
+ let centerz = shiftz * (num / 2) as f32;
+
+ let offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+ let x = -centerx + offset;
+ let y = centery + 3.0;
+ let z = -centerz + offset;
+
+ // Build the rigid body.
+ let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+ let handle = bodies.insert(rigid_body);
+ let collider = ColliderBuilder::cylinder(rad, rad).build();
+ colliders.insert(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());
+}
+
+fn main() {
+ let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+ testbed.run()
+}
diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs
index 09df815..6af93c7 100644
--- a/examples3d/heightfield3.rs
+++ b/examples3d/heightfield3.rs
@@ -54,13 +54,17 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
- if j % 2 == 0 {
- let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
- colliders.insert(collider, handle, &mut bodies);
- } else {
- let collider = ColliderBuilder::ball(rad).build();
- colliders.insert(collider, handle, &mut bodies);
- }
+ let collider = match j % 5 {
+ 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(),
+ };
+
+ colliders.insert(collider, handle, &mut bodies);
}
}
}
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index cf678b9..db15341 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Ground
*/
let ground_size = 100.1;
- let ground_height = 0.1;
+ let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
@@ -30,29 +30,34 @@ pub fn init_world(testbed: &mut Testbed) {
let num = 8;
let rad = 1.0;
- let shift = rad * 2.0 + rad;
- let centerx = shift * (num / 2) as f32;
- let centery = shift / 2.0;
- let centerz = shift * (num / 2) as f32;
+ let shiftx = rad * 2.0 + rad;
+ let shifty = rad * 2.0 + rad;
+ let shiftz = rad * 2.0 + rad;
+ let centerx = shiftx * (num / 2) as f32;
+ let centery = shifty / 2.0;
+ let centerz = shiftz * (num / 2) as f32;
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..20 {
for i in 0..num {
for k in 0usize..num {
- let x = i as f32 * shift - centerx + offset;
- let y = j as f32 * shift + centery + 3.0;
- let z = k as f32 * shift - centerz + offset;
+ let x = i as f32 * shiftx - centerx + offset;
+ let y = j as f32 * shifty + centery + 3.0;
+ let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
- let collider = match j % 2 {
+ let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
- // 2 => ColliderBuilder::capsule_y(rad, rad).build(),
- _ => unreachable!(),
+ // 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(),
};
colliders.insert(collider, handle, &mut bodies);
diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs
index d022a1f..2a96bda 100644
--- a/examples3d/trimesh3.rs
+++ b/examples3d/trimesh3.rs
@@ -64,13 +64,17 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
- if j % 2 == 0 {
- let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
- colliders.insert(collider, handle, &mut bodies);
- } else {
- let collider = ColliderBuilder::ball(rad).build();
- colliders.insert(collider, handle, &mut bodies);
- }
+ let collider = match j % 5 {
+ 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(),
+ };
+
+ colliders.insert(collider, handle, &mut bodies);
}
}
}
generated by cgit (git 2.34.1) at 2026-02-06 09:07:43 +0000