diff options
Diffstat (limited to 'src_testbed')
| -rw-r--r-- | src_testbed/nphysics_backend.rs | 2 | ||||
| -rw-r--r-- | src_testbed/physx_backend.rs | 24 | ||||
| -rw-r--r-- | src_testbed/testbed.rs | 31 |
3 files changed, 51 insertions, 6 deletions
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index f66d987..c9ff2d1 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -165,7 +165,7 @@ impl NPhysicsWorld { for coll_handle in rb.colliders() { let collider = &mut colliders[*coll_handle]; - collider.set_position_debug(pos * collider.delta()); + collider.set_position_debug(pos * collider.position_wrt_parent()); } } } diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs index 045e697..66036c8 100644 --- a/src_testbed/physx_backend.rs +++ b/src_testbed/physx_backend.rs @@ -225,6 +225,28 @@ impl PhysxWorld { } } + // Update mass properties. + for (rapier_handle, physx_handle) in rapier2physx.iter() { + let rb = &bodies[*rapier_handle]; + if let Some(mut ra) = scene.get_dynamic_mut(*physx_handle) { + let densities: Vec<_> = rb + .colliders() + .iter() + .map(|h| colliders[*h].density()) + .collect(); + + unsafe { + physx_sys::PxRigidBodyExt_updateMassAndInertia_mut( + ra.as_ptr_mut().ptr as *mut physx_sys::PxRigidBody, + densities.as_ptr(), + densities.len() as u32, + std::ptr::null(), + false, + ); + } + } + } + let mut res = Self { physics, cooking, @@ -390,7 +412,7 @@ impl PhysxWorld { for coll_handle in rb.colliders() { let collider = &mut colliders[*coll_handle]; - collider.set_position_debug(iso * collider.delta()); + collider.set_position_debug(iso * collider.position_wrt_parent()); } } } diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 868bd91..450170e 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -791,6 +791,29 @@ impl Testbed { .state .action_flags .set(TestbedActionFlags::EXAMPLE_CHANGED, true), + WindowEvent::Key(Key::C, Action::Release, _) => { + // Delete 1 collider of 10% of the remaining dynamic bodies. + let mut colliders: Vec<_> = self + .physics + .bodies + .iter() + .filter(|e| e.1.is_dynamic()) + .filter(|e| !e.1.colliders().is_empty()) + .map(|e| e.1.colliders().to_vec()) + .collect(); + colliders.sort_by_key(|co| -(co.len() as isize)); + + let num_to_delete = (colliders.len() / 10).max(1); + for to_delete in &colliders[..num_to_delete] { + self.physics.pipeline.remove_collider( + to_delete[0], + &mut self.physics.broad_phase, + &mut self.physics.narrow_phase, + &mut self.physics.bodies, + &mut self.physics.colliders, + ); + } + } WindowEvent::Key(Key::D, Action::Release, _) => { // Delete 10% of the remaining dynamic bodies. let dynamic_bodies: Vec<_> = self @@ -1539,7 +1562,7 @@ impl State for Testbed { } if self.state.flags.contains(TestbedStateFlags::CONTACT_POINTS) { - draw_contacts(window, &self.physics.narrow_phase, &self.physics.bodies); + draw_contacts(window, &self.physics.narrow_phase, &self.physics.colliders); } if self.state.running == RunMode::Step { @@ -1634,7 +1657,7 @@ Hashes at frame: {} } } -fn draw_contacts(window: &mut Window, nf: &NarrowPhase, bodies: &RigidBodySet) { +fn draw_contacts(window: &mut Window, nf: &NarrowPhase, colliders: &ColliderSet) { for (_, _, pair) in nf.contact_graph().interaction_pairs() { for manifold in &pair.manifolds { for pt in manifold.all_contacts() { @@ -1643,8 +1666,8 @@ fn draw_contacts(window: &mut Window, nf: &NarrowPhase, bodies: &RigidBodySet) { } else { Point3::new(1.0, 0.0, 0.0) }; - let pos1 = bodies[manifold.body_pair.body1].position; - let pos2 = bodies[manifold.body_pair.body2].position; + let pos1 = colliders[manifold.pair.collider1].position(); + let pos2 = colliders[manifold.pair.collider2].position(); let start = pos1 * pt.local_p1; let end = pos2 * pt.local_p2; let n = pos1 * manifold.local_n1; |