diff options
Diffstat (limited to 'src_testbed')
| -rw-r--r-- | src_testbed/nphysics_backend.rs | 8 | ||||
| -rw-r--r-- | src_testbed/physx_backend.rs | 28 | ||||
| -rw-r--r-- | src_testbed/testbed.rs | 31 |
3 files changed, 56 insertions, 11 deletions
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index 43f3bf9..c9ff2d1 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -13,7 +13,7 @@ use rapier::dynamics::{ IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet, }; use rapier::geometry::{Collider, ColliderSet, Shape}; -use rapier::math::{Isometry, Vector}; +use rapier::math::Vector; use std::collections::HashMap; #[cfg(feature = "dim3")] use {ncollide::shape::TriMesh, nphysics::joint::BallConstraint}; @@ -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()); } } } @@ -176,7 +176,7 @@ fn nphysics_collider_from_rapier_collider( is_dynamic: bool, ) -> Option<ColliderDesc<f32>> { let margin = ColliderDesc::<f32>::default_margin(); - let mut pos = Isometry::identity(); + let mut pos = *collider.position_wrt_parent(); let shape = match collider.shape() { Shape::Cuboid(cuboid) => { @@ -184,7 +184,7 @@ fn nphysics_collider_from_rapier_collider( } Shape::Ball(ball) => ShapeHandle::new(Ball::new(ball.radius - margin)), Shape::Capsule(capsule) => { - pos = capsule.transform_wrt_y(); + pos *= capsule.transform_wrt_y(); ShapeHandle::new(Capsule::new(capsule.half_height(), capsule.radius)) } Shape::HeightField(heightfield) => ShapeHandle::new(heightfield.clone()), diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs index 9ae7bb8..b06fd7e 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(rp) = scene.get_dynamic_mut(*physx_handle) { + let densities: Vec<_> = rb + .colliders() + .iter() + .map(|h| colliders[*h].density()) + .collect(); + + unsafe { + physx_sys::PxRigidBodyExt_updateMassAndInertia_mut( + rp.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()); } } } @@ -399,7 +421,7 @@ impl PhysxWorld { fn physx_collider_from_rapier_collider( collider: &Collider, ) -> Option<(ColliderDesc, Isometry3<f32>)> { - let mut local_pose = Isometry3::identity(); + let mut local_pose = *collider.position_wrt_parent(); let desc = match collider.shape() { Shape::Cuboid(cuboid) => ColliderDesc::Box( cuboid.half_extents.x, @@ -416,7 +438,7 @@ fn physx_collider_from_rapier_collider( } let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir); - local_pose = + local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity()); ColliderDesc::Capsule(capsule.radius, capsule.height()) } 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; |