diff options
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/debug_add_remove_collider3.rs | 7 | ||||
| -rw-r--r-- | examples3d/debug_dynamic_collider_add3.rs | 4 | ||||
| -rw-r--r-- | examples3d/fountain3.rs | 9 | ||||
| -rw-r--r-- | examples3d/joints3.rs | 20 | ||||
| -rw-r--r-- | examples3d/one_way_platforms3.rs | 43 | ||||
| -rw-r--r-- | examples3d/platform3.rs | 56 |
6 files changed, 82 insertions, 57 deletions
diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs index f353162..9aab754 100644 --- a/examples3d/debug_add_remove_collider3.rs +++ b/examples3d/debug_add_remove_collider3.rs @@ -38,7 +38,12 @@ pub fn init_world(testbed: &mut Testbed) { // Remove then re-add the ground collider. let coll = physics .colliders - .remove(ground_collider_handle, &mut physics.bodies, true) + .remove( + ground_collider_handle, + &mut physics.islands, + &mut physics.bodies, + true, + ) .unwrap(); ground_collider_handle = physics .colliders diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs index bd7205e..61c1482 100644 --- a/examples3d/debug_dynamic_collider_add3.rs +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -79,7 +79,9 @@ pub fn init_world(testbed: &mut Testbed) { step = snapped_frame; for handle in &extra_colliders { - physics.colliders.remove(*handle, &mut physics.bodies, true); + physics + .colliders + .remove(*handle, &mut physics.islands, &mut physics.bodies, true); } extra_colliders.clear(); diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs index 6c80562..08e1dfe 100644 --- a/examples3d/fountain3.rs +++ b/examples3d/fountain3.rs @@ -61,9 +61,12 @@ pub fn init_world(testbed: &mut Testbed) { let num_to_remove = to_remove.len() - MAX_NUMBER_OF_BODIES; for (handle, _) in &to_remove[..num_to_remove] { - physics - .bodies - .remove(*handle, &mut physics.colliders, &mut physics.joints); + physics.bodies.remove( + *handle, + &mut physics.islands, + &mut physics.colliders, + &mut physics.joints, + ); if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) { graphics.remove_body_nodes(window, *handle); diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs index 6ba9461..5b082fb 100644 --- a/examples3d/joints3.rs +++ b/examples3d/joints3.rs @@ -1,7 +1,7 @@ use na::{Isometry3, Point3, Unit, UnitQuaternion, Vector3}; use rapier3d::dynamics::{ - BallJoint, BodyStatus, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder, - RigidBodyHandle, RigidBodySet, + BallJoint, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder, + RigidBodyHandle, RigidBodySet, RigidBodyType, }; use rapier3d::geometry::{ColliderBuilder, ColliderSet}; use rapier_testbed3d::Testbed; @@ -203,9 +203,9 @@ fn create_fixed_joints( // fixed bodies. Because physx will crash if we add // a joint between these. let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) { - BodyStatus::Static + RigidBodyType::Static } else { - BodyStatus::Dynamic + RigidBodyType::Dynamic }; let rigid_body = RigidBodyBuilder::new(status) @@ -258,9 +258,9 @@ fn create_ball_joints( let fi = i as f32; let status = if i == 0 && (k % 4 == 0 || k == num - 1) { - BodyStatus::Static + RigidBodyType::Static } else { - BodyStatus::Dynamic + RigidBodyType::Dynamic }; let rigid_body = RigidBodyBuilder::new(status) @@ -317,9 +317,9 @@ fn create_actuated_revolute_joints( // fixed bodies. Because physx will crash if we add // a joint between these. let status = if i == 0 { - BodyStatus::Static + RigidBodyType::Static } else { - BodyStatus::Dynamic + RigidBodyType::Dynamic }; let shifty = (i >= 1) as u32 as f32 * -2.0; @@ -378,9 +378,9 @@ fn create_actuated_ball_joints( // fixed bodies. Because physx will crash if we add // a joint between these. let status = if i == 0 { - BodyStatus::Static + RigidBodyType::Static } else { - BodyStatus::Dynamic + RigidBodyType::Dynamic }; let rigid_body = RigidBodyBuilder::new(status) diff --git a/examples3d/one_way_platforms3.rs b/examples3d/one_way_platforms3.rs index d117a5b..f5a2f1b 100644 --- a/examples3d/one_way_platforms3.rs +++ b/examples3d/one_way_platforms3.rs @@ -9,36 +9,39 @@ struct OneWayPlatformHook { platform2: ColliderHandle, } -impl PhysicsHooks for OneWayPlatformHook { +impl PhysicsHooks<RigidBodySet, ColliderSet> for OneWayPlatformHook { fn active_hooks(&self) -> PhysicsHooksFlags { PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS } - fn modify_solver_contacts(&self, context: &mut ContactModificationContext) { + fn modify_solver_contacts( + &self, + context: &mut ContactModificationContext<RigidBodySet, ColliderSet>, + ) { // The allowed normal for the first platform is its local +y axis, and the // allowed normal for the second platform is its local -y axis. // // Now we have to be careful because the `manifold.local_n1` normal points // toward the outside of the shape of `context.co1`. So we need to flip the - // allowed normal direction if the platform is in `context.collider_handle2`. + // allowed normal direction if the platform is in `context.collider2`. // // Therefore: - // - If context.collider_handle1 == self.platform1 then the allowed normal is +y. - // - If context.collider_handle2 == self.platform1 then the allowed normal is -y. - // - If context.collider_handle1 == self.platform2 then its allowed normal +y needs to be flipped to -y. - // - If context.collider_handle2 == self.platform2 then the allowed normal -y needs to be flipped to +y. + // - If context.collider1 == self.platform1 then the allowed normal is +y. + // - If context.collider2 == self.platform1 then the allowed normal is -y. + // - If context.collider1 == self.platform2 then its allowed normal +y needs to be flipped to -y. + // - If context.collider2 == self.platform2 then the allowed normal -y needs to be flipped to +y. let mut allowed_local_n1 = Vector3::zeros(); - if context.collider_handle1 == self.platform1 { + if context.collider1 == self.platform1 { allowed_local_n1 = Vector3::y(); - } else if context.collider_handle2 == self.platform1 { + } else if context.collider2 == self.platform1 { // Flip the allowed direction. allowed_local_n1 = -Vector3::y(); } - if context.collider_handle1 == self.platform2 { + if context.collider1 == self.platform2 { allowed_local_n1 = -Vector3::y(); - } else if context.collider_handle2 == self.platform2 { + } else if context.collider2 == self.platform2 { // Flip the allowed direction. allowed_local_n1 = Vector3::y(); } @@ -47,13 +50,12 @@ impl PhysicsHooks for OneWayPlatformHook { context.update_as_oneway_platform(&allowed_local_n1, 0.1); // Set the surface velocity of the accepted contacts. - let tangent_velocity = if context.collider_handle1 == self.platform1 - || context.collider_handle2 == self.platform2 - { - -12.0 - } else { - 12.0 - }; + let tangent_velocity = + if context.collider1 == self.platform1 || context.collider2 == self.platform2 { + -12.0 + } else { + 12.0 + }; for contact in context.solver_contacts.iter_mut() { contact.tangent_velocity.z = tangent_velocity; @@ -115,13 +117,14 @@ pub fn init_world(testbed: &mut Testbed) { } } - physics.bodies.foreach_active_dynamic_body_mut(|_, body| { + for handle in physics.islands.active_dynamic_bodies() { + let body = physics.bodies.get_mut(*handle).unwrap(); if body.position().translation.y > 1.0 { body.set_gravity_scale(1.0, false); } else if body.position().translation.y < -1.0 { body.set_gravity_scale(-1.0, false); } - }); + } }); /* diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs index 7b5c986..cbe5b15 100644 --- a/examples3d/platform3.rs +++ b/examples3d/platform3.rs @@ -1,4 +1,4 @@ -use na::Point3; +use na::{Isometry3, Point3, UnitQuaternion, Vector3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; use rapier3d::geometry::{ColliderBuilder, ColliderSet}; use rapier_testbed3d::Testbed; @@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground. */ - let ground_size = 10.0; + let ground_size = 20.0; let ground_height = 0.1; let rigid_body = RigidBodyBuilder::new_static() @@ -27,25 +27,28 @@ pub fn init_world(testbed: &mut Testbed) { /* * Create the boxes */ - let num = 6; + let num = 1; let rad = 0.2; let shift = rad * 2.0; let centerx = shift * num as f32 / 2.0; - let centery = shift / 2.0 + 3.04; + let centery = shift / 2.0; let centerz = shift * num as f32 / 2.0; - for i in 0usize..num { + for i in 0usize..20 { for j in 0usize..num { for k in 0usize..num { - let x = i as f32 * shift - centerx; + let x = i as f32 * (shift + rad / 4.0) - centerx; let y = j as f32 * shift + centery; let z = k as f32 * shift - centerz; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(x, y + rad, z) + .ccd_enabled(true) + .build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + let collider = ColliderBuilder::cuboid(rad, rad * 2.0, rad).build(); colliders.insert(collider, handle, &mut bodies); } } @@ -55,11 +58,16 @@ pub fn init_world(testbed: &mut Testbed) { * Setup a kinematic rigid body. */ let platform_body = RigidBodyBuilder::new_kinematic() - .translation(0.0, 1.5 + 0.8, -10.0 * rad) + .translation(0.2, 0.4, -40.0 * rad) .build(); let platform_handle = bodies.insert(platform_body); - let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build(); - colliders.insert(collider, platform_handle, &mut bodies); + let collider1 = ColliderBuilder::cuboid(rad * 5.0, rad * 2.0, rad * 10.0).build(); + let collider2 = ColliderBuilder::cuboid(rad * 5.0, rad * 2.0, rad * 10.0) + .position_wrt_parent(Isometry3::translation(0.0, rad * 2.1, 0.0)) + .build(); + colliders.insert(collider1, platform_handle, &mut bodies); + colliders.insert(collider2, platform_handle, &mut bodies); + testbed.set_body_color(platform_handle, Point3::new(1.0, 1.0, 0.0)); /* * Setup a callback to control the platform. @@ -67,23 +75,27 @@ pub fn init_world(testbed: &mut Testbed) { let mut count = 0; testbed.add_callback(move |_, _, physics, _, run_state| { count += 1; - if count % 100 > 50 { - return; - } + // if count % 100 > 50 { + // return; + // } if let Some(platform) = physics.bodies.get_mut(platform_handle) { let mut next_pos = *platform.position(); let dt = 0.016; - next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt; - next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt; + // next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt; + // next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt; - if next_pos.translation.vector.z >= rad * 10.0 { - next_pos.translation.vector.z -= dt; - } - if next_pos.translation.vector.z <= -rad * 10.0 { - next_pos.translation.vector.z += dt; - } + let drot = UnitQuaternion::new(Vector3::y() * 0.01); + next_pos.rotation = drot * next_pos.rotation; + next_pos.translation.vector += next_pos.rotation * Vector3::z() * 0.1; + + // if next_pos.translation.vector.z >= rad * 10.0 { + // next_pos.translation.vector.z -= dt; + // } + // if next_pos.translation.vector.z <= -rad * 10.0 { + // next_pos.translation.vector.z += dt; + // } platform.set_next_kinematic_position(next_pos); } |