From a9e3441ecd64d50b478ab5370fabe187ec9a5c39 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sat, 19 Mar 2022 16:23:09 +0100 Subject: Rename rigid-body `static` to `fixed` --- CHANGELOG.md | 4 ++ benchmarks2d/balls2.rs | 2 +- benchmarks2d/boxes2.rs | 8 ++-- benchmarks2d/capsules2.rs | 8 ++-- benchmarks2d/convex_polygons2.rs | 8 ++-- benchmarks2d/heightfield2.rs | 4 +- benchmarks2d/joint_ball2.rs | 2 +- benchmarks2d/joint_fixed2.rs | 2 +- benchmarks2d/joint_prismatic2.rs | 4 +- benchmarks2d/pyramid2.rs | 4 +- benchmarks3d/balls3.rs | 2 +- benchmarks3d/boxes3.rs | 4 +- benchmarks3d/capsules3.rs | 4 +- benchmarks3d/ccd3.rs | 4 +- benchmarks3d/compound3.rs | 4 +- benchmarks3d/convex_polyhedron3.rs | 4 +- benchmarks3d/heightfield3.rs | 4 +- benchmarks3d/joint_ball3.rs | 2 +- benchmarks3d/joint_fixed3.rs | 2 +- benchmarks3d/joint_prismatic3.rs | 4 +- benchmarks3d/joint_revolute3.rs | 4 +- benchmarks3d/keva3.rs | 6 +-- benchmarks3d/pyramid3.rs | 4 +- benchmarks3d/stacks3.rs | 8 ++-- benchmarks3d/trimesh3.rs | 4 +- examples2d/add_remove2.rs | 4 +- examples2d/ccd2.rs | 4 +- examples2d/collision_groups2.rs | 4 +- examples2d/convex_polygons2.rs | 8 ++-- examples2d/damping2.rs | 2 +- examples2d/debug_box_ball2.rs | 4 +- examples2d/drum2.rs | 4 +- examples2d/heightfield2.rs | 4 +- examples2d/joints2.rs | 2 +- examples2d/locked_rotations2.rs | 6 +-- examples2d/one_way_platforms2.rs | 4 +- examples2d/platform2.rs | 10 ++--- examples2d/polyline2.rs | 4 +- examples2d/pyramid2.rs | 4 +- examples2d/restitution2.rs | 6 +-- examples2d/sensor2.rs | 6 +-- examples2d/trimesh2.rs | 8 ++-- examples3d/ccd3.rs | 8 ++-- examples3d/collision_groups3.rs | 4 +- examples3d/compound3.rs | 4 +- examples3d/convex_decomposition3.rs | 4 +- examples3d/convex_polyhedron3.rs | 4 +- examples3d/damping3.rs | 2 +- examples3d/debug_add_remove_collider3.rs | 4 +- examples3d/debug_articulations3.rs | 4 +- examples3d/debug_big_colliders3.rs | 4 +- examples3d/debug_boxes3.rs | 5 +-- examples3d/debug_cylinder3.rs | 4 +- examples3d/debug_dynamic_collider_add3.rs | 4 +- examples3d/debug_friction3.rs | 4 +- examples3d/debug_infinite_fall3.rs | 6 +-- examples3d/debug_prismatic3.rs | 8 ++-- examples3d/debug_rollback3.rs | 4 +- examples3d/debug_shape_modification3.rs | 6 +-- examples3d/debug_triangle3.rs | 4 +- examples3d/debug_trimesh3.rs | 4 +- examples3d/domino3.rs | 4 +- examples3d/fountain3.rs | 4 +- examples3d/harness_capsules3.rs | 4 +- examples3d/heightfield3.rs | 4 +- examples3d/joints3.rs | 48 ++++++++++------------ examples3d/keva3.rs | 6 +-- examples3d/locked_rotations3.rs | 6 +-- examples3d/one_way_platforms3.rs | 4 +- examples3d/platform3.rs | 8 ++-- examples3d/primitives3.rs | 4 +- examples3d/restitution3.rs | 4 +- examples3d/sensor3.rs | 6 +-- examples3d/trimesh3.rs | 4 +- src/dynamics/ccd/ccd_solver.rs | 2 +- src/dynamics/island_manager.rs | 2 +- src/dynamics/rigid_body.rs | 50 +++++++++++++++-------- src/dynamics/rigid_body_components.rs | 12 +++--- src/dynamics/solver/interaction_groups.rs | 42 +++++++++---------- src/geometry/broad_phase_multi_sap/broad_phase.rs | 4 +- src/geometry/collider_components.rs | 8 ++-- src/geometry/narrow_phase.rs | 14 +++---- src/pipeline/physics_pipeline.rs | 20 ++++----- src/pipeline/user_changes.rs | 2 +- src_testbed/graphics.rs | 4 +- src_testbed/physx_backend.rs | 8 ++-- src_testbed/testbed.rs | 4 +- 87 files changed, 284 insertions(+), 271 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index a46d922..1c9d8fe 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,10 @@ - `RigidsBody::apply_force`, `::apply_torque`, `::apply_force_at_point` have been renamed to `::add_force`, `::add_torque`, and `::add_force_at_point` to better reflect the fact that they are not cleared at the end of the timestep. +- Rename `RigidBodyType::Static` to `RigidBodyType::Fixed` to avoid confusion with the `static` keyword. +- All method referring to `static` rigid-bodies now use `fixed` instead of `static`. +- Rename `RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based` to + `RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based`. ## v0.12.0-alpha.0 (2 Jan. 2022) ### Fixed diff --git a/benchmarks2d/balls2.rs b/benchmarks2d/balls2.rs index a560d65..eb0b390 100644 --- a/benchmarks2d/balls2.rs +++ b/benchmarks2d/balls2.rs @@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shifty + centery; let status = if j == 0 { - RigidBodyType::Static + RigidBodyType::Fixed } else { RigidBodyType::Dynamic }; diff --git a/benchmarks2d/boxes2.rs b/benchmarks2d/boxes2.rs index 0da76a9..2960e70 100644 --- a/benchmarks2d/boxes2.rs +++ b/benchmarks2d/boxes2.rs @@ -15,19 +15,19 @@ pub fn init_world(testbed: &mut Testbed) { */ let ground_size = 25.0; - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![ground_size, ground_size * 2.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![-ground_size, ground_size * 2.0]); let handle = bodies.insert(rigid_body); @@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shift + centery + 2.0; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/benchmarks2d/capsules2.rs b/benchmarks2d/capsules2.rs index 86e1004..e4c2efa 100644 --- a/benchmarks2d/capsules2.rs +++ b/benchmarks2d/capsules2.rs @@ -15,19 +15,19 @@ pub fn init_world(testbed: &mut Testbed) { */ let ground_size = 25.0; - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![ground_size, ground_size * 4.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![-ground_size, ground_size * 4.0]); let handle = bodies.insert(rigid_body); @@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shifty + centery + 3.0; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::capsule_y(rad * 1.5, rad); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/benchmarks2d/convex_polygons2.rs b/benchmarks2d/convex_polygons2.rs index c340143..eaa609c 100644 --- a/benchmarks2d/convex_polygons2.rs +++ b/benchmarks2d/convex_polygons2.rs @@ -17,19 +17,19 @@ pub fn init_world(testbed: &mut Testbed) { */ let ground_size = 30.0; - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![ground_size, ground_size * 2.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![-ground_size, ground_size * 2.0]); let handle = bodies.insert(rigid_body); @@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) { let x = i as f32 * shift - centerx; let y = j as f32 * shift * 2.0 + centery + 2.0; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let mut points = Vec::new(); diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs index 60fc45f..7984d08 100644 --- a/benchmarks2d/heightfield2.rs +++ b/benchmarks2d/heightfield2.rs @@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) { } }); - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::heightfield(heights, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shift + centery + 3.0; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); if j % 2 == 0 { diff --git a/benchmarks2d/joint_ball2.rs b/benchmarks2d/joint_ball2.rs index 9d819fc..9fd61ff 100644 --- a/benchmarks2d/joint_ball2.rs +++ b/benchmarks2d/joint_ball2.rs @@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) { let fi = i as f32; let status = if k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 { - RigidBodyType::Static + RigidBodyType::Fixed } else { RigidBodyType::Dynamic }; diff --git a/benchmarks2d/joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs index f492bd5..36ff62e 100644 --- a/benchmarks2d/joint_fixed2.rs +++ b/benchmarks2d/joint_fixed2.rs @@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) { let fi = i as f32; let status = if k == 0 { - RigidBodyType::Static + RigidBodyType::Fixed } else { RigidBodyType::Dynamic }; diff --git a/benchmarks2d/joint_prismatic2.rs b/benchmarks2d/joint_prismatic2.rs index 65e7fe1..d4d328b 100644 --- a/benchmarks2d/joint_prismatic2.rs +++ b/benchmarks2d/joint_prismatic2.rs @@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) { for j in 0..50 { let x = j as f32 * shift * 4.0; - let ground = RigidBodyBuilder::new_static().translation(vector![x, y]); + let ground = RigidBodyBuilder::fixed().translation(vector![x, y]); let mut curr_parent = bodies.insert(ground); let collider = ColliderBuilder::cuboid(rad, rad); colliders.insert_with_parent(collider, curr_parent, &mut bodies); @@ -32,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) { for i in 0..num { let y = y - (i + 1) as f32 * shift; let density = 1.0; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let curr_child = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad).density(density); colliders.insert_with_parent(collider, curr_child, &mut bodies); diff --git a/benchmarks2d/pyramid2.rs b/benchmarks2d/pyramid2.rs index 7453344..617da83 100644 --- a/benchmarks2d/pyramid2.rs +++ b/benchmarks2d/pyramid2.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 100.0; let ground_thickness = 1.0; - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_thickness); colliders.insert_with_parent(collider, ground_handle, &mut bodies); @@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = fi * shift + centery; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/benchmarks3d/balls3.rs b/benchmarks3d/balls3.rs index 4ccf594..7d76dcf 100644 --- a/benchmarks3d/balls3.rs +++ b/benchmarks3d/balls3.rs @@ -29,7 +29,7 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shift - centerz; let status = if j == 0 { - RigidBodyType::Static + RigidBodyType::Fixed } else { RigidBodyType::Dynamic }; diff --git a/benchmarks3d/boxes3.rs b/benchmarks3d/boxes3.rs index e816a63..0981395 100644 --- a/benchmarks3d/boxes3.rs +++ b/benchmarks3d/boxes3.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 200.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shift - centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/benchmarks3d/capsules3.rs b/benchmarks3d/capsules3.rs index ec00e2d..041715e 100644 --- a/benchmarks3d/capsules3.rs +++ b/benchmarks3d/capsules3.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 200.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -43,7 +43,7 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shift - centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::capsule_y(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/benchmarks3d/ccd3.rs b/benchmarks3d/ccd3.rs index ed137a2..f642739 100644 --- a/benchmarks3d/ccd3.rs +++ b/benchmarks3d/ccd3.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 100.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shiftz - centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .translation(vector![x, y, z]) .linvel(vector![0.0, -1000.0, 0.0]) .ccd_enabled(true); diff --git a/benchmarks3d/compound3.rs b/benchmarks3d/compound3.rs index 04e8c78..9be2cc5 100644 --- a/benchmarks3d/compound3.rs +++ b/benchmarks3d/compound3.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 200.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -42,7 +42,7 @@ 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(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad); let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad).translation(vector![ diff --git a/benchmarks3d/convex_polyhedron3.rs b/benchmarks3d/convex_polyhedron3.rs index 5d9f363..f95c350 100644 --- a/benchmarks3d/convex_polyhedron3.rs +++ b/benchmarks3d/convex_polyhedron3.rs @@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 200.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) { } // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap(); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/benchmarks3d/heightfield3.rs b/benchmarks3d/heightfield3.rs index 6bf6fc0..5c392a2 100644 --- a/benchmarks3d/heightfield3.rs +++ b/benchmarks3d/heightfield3.rs @@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) { } }); - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::heightfield(heights, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shift - centerz; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); if j % 2 == 0 { diff --git a/benchmarks3d/joint_ball3.rs b/benchmarks3d/joint_ball3.rs index 4b509af..f137c69 100644 --- a/benchmarks3d/joint_ball3.rs +++ b/benchmarks3d/joint_ball3.rs @@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) { let fi = i as f32; let status = if i == 0 && (k % 4 == 0 || k == num - 1) { - RigidBodyType::Static + RigidBodyType::Fixed } else { RigidBodyType::Dynamic }; diff --git a/benchmarks3d/joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs index 5fdba9c..b15515c 100644 --- a/benchmarks3d/joint_fixed3.rs +++ b/benchmarks3d/joint_fixed3.rs @@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) { // a joint between these. let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) { - RigidBodyType::Static + RigidBodyType::Fixed } else { RigidBodyType::Dynamic }; diff --git a/benchmarks3d/joint_prismatic3.rs b/benchmarks3d/joint_prismatic3.rs index faa5f93..a97dc56 100644 --- a/benchmarks3d/joint_prismatic3.rs +++ b/benchmarks3d/joint_prismatic3.rs @@ -23,7 +23,7 @@ pub fn init_world(testbed: &mut Testbed) { for j in 0..50 { let x = j as f32 * shift * 4.0; - let ground = RigidBodyBuilder::new_static().translation(vector![x, y, z]); + let ground = RigidBodyBuilder::fixed().translation(vector![x, y, z]); let mut curr_parent = bodies.insert(ground); let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, curr_parent, &mut bodies); @@ -31,7 +31,7 @@ pub fn init_world(testbed: &mut Testbed) { for i in 0..num { let z = z + (i + 1) as f32 * shift; let density = 1.0; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let curr_child = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density); colliders.insert_with_parent(collider, curr_child, &mut bodies); diff --git a/benchmarks3d/joint_revolute3.rs b/benchmarks3d/joint_revolute3.rs index aa1be50..779248a 100644 --- a/benchmarks3d/joint_revolute3.rs +++ b/benchmarks3d/joint_revolute3.rs @@ -20,7 +20,7 @@ pub fn init_world(testbed: &mut Testbed) { for j in 0..50 { let x = j as f32 * shift * 4.0; - let ground = RigidBodyBuilder::new_static().translation(vector![x, y, 0.0]); + let ground = RigidBodyBuilder::fixed().translation(vector![x, y, 0.0]); let mut curr_parent = bodies.insert(ground); let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, curr_parent, &mut bodies); @@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) { let mut handles = [curr_parent; 4]; for k in 0..4 { let density = 1.0; - let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]); + let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]); handles[k] = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density); colliders.insert_with_parent(collider, handles[k], &mut bodies); diff --git a/benchmarks3d/keva3.rs b/benchmarks3d/keva3.rs index 30e5246..ecd6e77 100644 --- a/benchmarks3d/keva3.rs +++ b/benchmarks3d/keva3.rs @@ -38,7 +38,7 @@ pub fn build_block( }; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![ + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![ x + dim.x + shift.x, y + dim.y + shift.y, z + dim.z + shift.z @@ -59,7 +59,7 @@ pub fn build_block( for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize { for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize { // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![ + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![ i as f32 * dim.x * 2.0 + dim.x + shift.x, dim.y + shift.y + block_height, j as f32 * dim.z * 2.0 + dim.z + shift.z @@ -88,7 +88,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/benchmarks3d/pyramid3.rs b/benchmarks3d/pyramid3.rs index 572db45..fbbce31 100644 --- a/benchmarks3d/pyramid3.rs +++ b/benchmarks3d/pyramid3.rs @@ -22,7 +22,7 @@ fn create_pyramid( - stack_height as f32 * half_extents.z; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let rigid_body_handle = bodies.insert(rigid_body); let collider = @@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, ground_handle, &mut bodies); diff --git a/benchmarks3d/stacks3.rs b/benchmarks3d/stacks3.rs index ff67917..15fa17c 100644 --- a/benchmarks3d/stacks3.rs +++ b/benchmarks3d/stacks3.rs @@ -23,7 +23,7 @@ fn create_tower_circle( * Translation::new(0.0, y, radius); // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().position(pos); + let rigid_body = RigidBodyBuilder::dynamic().position(pos); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z); colliders.insert_with_parent(collider, handle, bodies); @@ -49,7 +49,7 @@ fn create_wall( - stack_height as f32 * half_extents.z; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z); colliders.insert_with_parent(collider, handle, bodies); @@ -79,7 +79,7 @@ fn create_pyramid( - stack_height as f32 * half_extents.z; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z); @@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 200.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/benchmarks3d/trimesh3.rs b/benchmarks3d/trimesh3.rs index e9d73ee..ea5aaaa 100644 --- a/benchmarks3d/trimesh3.rs +++ b/benchmarks3d/trimesh3.rs @@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) { let heightfield = HeightField::new(heights, ground_size); let (vertices, indices) = heightfield.to_trimesh(); - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::trimesh(vertices, indices); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shift - centerz; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); if j % 2 == 0 { diff --git a/examples2d/add_remove2.rs b/examples2d/add_remove2.rs index 261071b..1405b51 100644 --- a/examples2d/add_remove2.rs +++ b/examples2d/add_remove2.rs @@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) { let platform_handles = positions .into_iter() .map(|pos| { - let rigid_body = RigidBodyBuilder::new_kinematic_position_based().translation(pos); + let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(pos); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad * 10.0, rad); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) { if state.timestep_id % 10 == 0 { let x = rand::random::() * 10.0 - 5.0; let y = rand::random::() * 10.0 + 10.0; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = physics.bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad); physics diff --git a/examples2d/ccd2.rs b/examples2d/ccd2.rs index 0e64713..0a10800 100644 --- a/examples2d/ccd2.rs +++ b/examples2d/ccd2.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 25.0; let ground_thickness = 0.1; - let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true); + let rigid_body = RigidBodyBuilder::fixed().ccd_enabled(true); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_thickness); @@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shift + centery; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .translation(vector![x, y]) .linvel(vector![100.0, -10.0]) .ccd_enabled(true); diff --git a/examples2d/collision_groups2.rs b/examples2d/collision_groups2.rs index 9c9cd30..707696c 100644 --- a/examples2d/collision_groups2.rs +++ b/examples2d/collision_groups2.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 5.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]); let floor_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height); colliders.insert_with_parent(collider, floor_handle, &mut bodies); @@ -70,7 +70,7 @@ pub fn init_world(testbed: &mut Testbed) { (BLUE_GROUP, [0.0, 0.0, 1.0]) }; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad).collision_groups(group); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/examples2d/convex_polygons2.rs b/examples2d/convex_polygons2.rs index b3139c4..b986d6a 100644 --- a/examples2d/convex_polygons2.rs +++ b/examples2d/convex_polygons2.rs @@ -17,19 +17,19 @@ pub fn init_world(testbed: &mut Testbed) { */ let ground_size = 30.0; - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![ground_size, ground_size * 2.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![-ground_size, ground_size * 2.0]); let handle = bodies.insert(rigid_body); @@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) { let x = i as f32 * shift - centerx; let y = j as f32 * shift * 2.0 + centery + 2.0; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let mut points = Vec::new(); diff --git a/examples2d/damping2.rs b/examples2d/damping2.rs index 689190c..0087323 100644 --- a/examples2d/damping2.rs +++ b/examples2d/damping2.rs @@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) { let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos(); // Build the rigid body. - let rb = RigidBodyBuilder::new_dynamic() + let rb = RigidBodyBuilder::dynamic() .translation(vector![x, y]) .linvel(vector![x * 10.0, y * 10.0]) .angvel(100.0) diff --git a/examples2d/debug_box_ball2.rs b/examples2d/debug_box_ball2.rs index e071c61..9725ccf 100644 --- a/examples2d/debug_box_ball2.rs +++ b/examples2d/debug_box_ball2.rs @@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) { * Ground */ let rad = 1.0; - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .translation(vector![0.0, -rad]) .rotation(std::f32::consts::PI / 4.0); let handle = bodies.insert(rigid_body); @@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) { colliders.insert_with_parent(collider, handle, &mut bodies); // Build the dynamic box rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .translation(vector![0.0, 3.0 * rad]) .can_sleep(false); let handle = bodies.insert(rigid_body); diff --git a/examples2d/drum2.rs b/examples2d/drum2.rs index 57c891f..54588c8 100644 --- a/examples2d/drum2.rs +++ b/examples2d/drum2.rs @@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shift - centery; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -36,7 +36,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Setup a velocity-based kinematic rigid body. */ - let platform_body = RigidBodyBuilder::new_kinematic_velocity_based(); + let platform_body = RigidBodyBuilder::kinematic_velocity_based(); let velocity_based_platform_handle = bodies.insert(platform_body); let sides = [ diff --git a/examples2d/heightfield2.rs b/examples2d/heightfield2.rs index 65ad76c..56ffc9f 100644 --- a/examples2d/heightfield2.rs +++ b/examples2d/heightfield2.rs @@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) { } }); - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::heightfield(heights, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -46,7 +46,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shift + centery + 3.0; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); if j % 2 == 0 { diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs index 7a7119e..31fda33 100644 --- a/examples2d/joints2.rs +++ b/examples2d/joints2.rs @@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) { let fi = i as f32; let status = if i == 0 && k == 0 { - RigidBodyType::Static + RigidBodyType::Fixed } else { RigidBodyType::Dynamic }; diff --git a/examples2d/locked_rotations2.rs b/examples2d/locked_rotations2.rs index c9d74be..35b1549 100644 --- a/examples2d/locked_rotations2.rs +++ b/examples2d/locked_rotations2.rs @@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 5.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * A rectangle that only rotate. */ - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .translation(vector![0.0, 3.0]) .lock_translations(); let handle = bodies.insert(rigid_body); @@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * A tilted capsule that cannot rotate. */ - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .translation(vector![0.0, 5.0]) .rotation(1.0) .lock_rotations(); diff --git a/examples2d/one_way_platforms2.rs b/examples2d/one_way_platforms2.rs index dae3f39..2b72c1f 100644 --- a/examples2d/one_way_platforms2.rs +++ b/examples2d/one_way_platforms2.rs @@ -68,7 +68,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground */ - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(25.0, 0.5) @@ -96,7 +96,7 @@ pub fn init_world(testbed: &mut Testbed) { if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 { // Spawn a new cube. let collider = ColliderBuilder::cuboid(1.5, 2.0); - let body = RigidBodyBuilder::new_dynamic().translation(vector![20.0, 10.0]); + let body = RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]); let handle = physics.bodies.insert(body); physics .colliders diff --git a/examples2d/platform2.rs b/examples2d/platform2.rs index 325e7ce..c240518 100644 --- a/examples2d/platform2.rs +++ b/examples2d/platform2.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 10.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shift + centery; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -47,8 +47,8 @@ pub fn init_world(testbed: &mut Testbed) { /* * Setup a position-based kinematic rigid body. */ - let platform_body = RigidBodyBuilder::new_kinematic_velocity_based() - .translation(vector![-10.0 * rad, 1.5 + 0.8]); + let platform_body = + RigidBodyBuilder::kinematic_velocity_based().translation(vector![-10.0 * rad, 1.5 + 0.8]); let velocity_based_platform_handle = bodies.insert(platform_body); let collider = ColliderBuilder::cuboid(rad * 10.0, rad); colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies); @@ -56,7 +56,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Setup a velocity-based kinematic rigid body. */ - let platform_body = RigidBodyBuilder::new_kinematic_position_based() + let platform_body = RigidBodyBuilder::kinematic_position_based() .translation(vector![-10.0 * rad, 2.0 + 1.5 + 0.8]); let position_based_platform_handle = bodies.insert(platform_body); let collider = ColliderBuilder::cuboid(rad * 10.0, rad); diff --git a/examples2d/polyline2.rs b/examples2d/polyline2.rs index 35253e0..d9eb604 100644 --- a/examples2d/polyline2.rs +++ b/examples2d/polyline2.rs @@ -27,7 +27,7 @@ pub fn init_world(testbed: &mut Testbed) { } points.push(point![ground_size / 2.0, 40.0]); - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::polyline(points, None); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = j as f32 * shift + centery + 3.0; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); if j % 2 == 0 { diff --git a/examples2d/pyramid2.rs b/examples2d/pyramid2.rs index 1f1440c..cc501f4 100644 --- a/examples2d/pyramid2.rs +++ b/examples2d/pyramid2.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 10.0; let ground_thickness = 1.0; - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_thickness); colliders.insert_with_parent(collider, ground_handle, &mut bodies); @@ -39,7 +39,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = fi * shift + centery; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/examples2d/restitution2.rs b/examples2d/restitution2.rs index 428c6c4..273777c 100644 --- a/examples2d/restitution2.rs +++ b/examples2d/restitution2.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 20.; let ground_height = 1.0; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height).restitution(1.0); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -27,8 +27,8 @@ pub fn init_world(testbed: &mut Testbed) { for j in 0..2 { for i in 0..=num { let x = (i as f32) - num as f32 / 2.0; - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]); + let rigid_body = + RigidBodyBuilder::dynamic().translation(vector![x * 2.0, 10.0 * (j as f32 + 1.0)]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::ball(rad).restitution((i as f32) / (num as f32)); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/examples2d/sensor2.rs b/examples2d/sensor2.rs index edd8933..e5a95df 100644 --- a/examples2d/sensor2.rs +++ b/examples2d/sensor2.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 200.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height); colliders.insert_with_parent(collider, ground_handle, &mut bodies); @@ -35,7 +35,7 @@ pub fn init_world(testbed: &mut Testbed) { let y = 3.0; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) { */ // Rigid body so that the sensor can move. - let sensor = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0]); + let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0]); let sensor_handle = bodies.insert(sensor); // Solid cube attached to the sensor which diff --git a/examples2d/trimesh2.rs b/examples2d/trimesh2.rs index debecf9..219a583 100644 --- a/examples2d/trimesh2.rs +++ b/examples2d/trimesh2.rs @@ -21,19 +21,19 @@ pub fn init_world(testbed: &mut Testbed) { */ let ground_size = 25.0; - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![ground_size, ground_size]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, 1.2); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() + let rigid_body = RigidBodyBuilder::fixed() .rotation(std::f32::consts::FRAC_PI_2) .translation(vector![-ground_size, ground_size]); let handle = bodies.insert(rigid_body); @@ -85,7 +85,7 @@ pub fn init_world(testbed: &mut Testbed) { for k in 0..5 { let collider = ColliderBuilder::trimesh(vertices.clone(), indices.clone()); - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0]) .rotation(angle); let handle = bodies.insert(rigid_body); diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs index c1ade84..635b0e0 100644 --- a/examples3d/ccd3.rs +++ b/examples3d/ccd3.rs @@ -21,7 +21,7 @@ fn create_wall( - stack_height as f32 * half_extents.z; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z); colliders.insert_with_parent(collider, handle, bodies); @@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, ground_handle, &mut bodies); @@ -93,7 +93,7 @@ pub fn init_world(testbed: &mut Testbed) { .density(10.0) .sensor(true) .active_events(ActiveEvents::INTERSECTION_EVENTS); - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .linvel(vector![1000.0, 0.0, 0.0]) .translation(vector![-20.0, shift_y + 2.0, 0.0]) .ccd_enabled(true); @@ -102,7 +102,7 @@ pub fn init_world(testbed: &mut Testbed) { // Second rigid-body with CCD enabled. let collider = ColliderBuilder::ball(1.0).density(10.0); - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .linvel(vector![1000.0, 0.0, 0.0]) .translation(vector![-20.0, shift_y + 2.0, shift_z]) .ccd_enabled(true); diff --git a/examples3d/collision_groups3.rs b/examples3d/collision_groups3.rs index c1bc144..480ac3e 100644 --- a/examples3d/collision_groups3.rs +++ b/examples3d/collision_groups3.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 5.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let floor_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, floor_handle, &mut bodies); @@ -73,7 +73,7 @@ pub fn init_world(testbed: &mut Testbed) { (BLUE_GROUP, [0.0, 0.0, 1.0]) }; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(rad, rad, rad).collision_groups(group); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs index 5ecccb9..8c2deb0 100644 --- a/examples3d/compound3.rs +++ b/examples3d/compound3.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -43,7 +43,7 @@ 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(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); // First option: attach several colliders to a single rigid-body. diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs index 33c1611..0863430 100644 --- a/examples3d/convex_decomposition3.rs +++ b/examples3d/convex_decomposition3.rs @@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -86,7 +86,7 @@ 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(vector![x, y, z]); + let body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(body); for shape in &shapes { diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs index b4c391e..980720a 100644 --- a/examples3d/convex_polyhedron3.rs +++ b/examples3d/convex_polyhedron3.rs @@ -18,7 +18,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 40.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -52,7 +52,7 @@ pub fn init_world(testbed: &mut Testbed) { } // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap(); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/examples3d/damping3.rs b/examples3d/damping3.rs index d189482..992afbe 100644 --- a/examples3d/damping3.rs +++ b/examples3d/damping3.rs @@ -22,7 +22,7 @@ pub fn init_world(testbed: &mut Testbed) { let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos(); // Build the rigid body. - let rb = RigidBodyBuilder::new_dynamic() + let rb = RigidBodyBuilder::dynamic() .translation(vector![x, y, 0.0]) .linvel(vector![x * 10.0, y * 10.0, 0.0]) .angvel(Vector::z() * 100.0) diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs index e6d8ac6..25bb23a 100644 --- a/examples3d/debug_add_remove_collider3.rs +++ b/examples3d/debug_add_remove_collider3.rs @@ -16,7 +16,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 3.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4); let mut ground_collider_handle = @@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) { * Rolling ball */ let ball_rad = 0.1; - let rb = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 0.2, 0.0]); + let rb = RigidBodyBuilder::dynamic().translation(vector![0.0, 0.2, 0.0]); let ball_handle = bodies.insert(rb); let collider = ColliderBuilder::ball(ball_rad).density(100.0); colliders.insert_with_parent(collider, ball_handle, &mut bodies); diff --git a/examples3d/debug_articulations3.rs b/examples3d/debug_articulations3.rs index 0dbc66a..e844630 100644 --- a/examples3d/debug_articulations3.rs +++ b/examples3d/debug_articulations3.rs @@ -20,7 +20,7 @@ fn create_ball_articulations( let status = if i == 0 { // && (k % 4 == 0 || k == num - 1) { - RigidBodyType::Static + RigidBodyType::Fixed } else { RigidBodyType::Dynamic }; @@ -74,7 +74,7 @@ pub fn init_world(testbed: &mut Testbed) { .rotation(vector![0.1, 0.0, 0.1]); colliders.insert(collider); - let rigid_body = RigidBodyBuilder::new_dynamic(); + let rigid_body = RigidBodyBuilder::dynamic(); let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) .translation(vector![0.0, -3.0, 0.0]) .rotation(vector![0.1, 0.0, 0.1]); diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs index d221a05..680e24e 100644 --- a/examples3d/debug_big_colliders3.rs +++ b/examples3d/debug_big_colliders3.rs @@ -13,7 +13,7 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground */ - let rigid_body = RigidBodyBuilder::new_static(); + let rigid_body = RigidBodyBuilder::fixed(); let handle = bodies.insert(rigid_body); let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis())); let collider = ColliderBuilder::new(halfspace); @@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) { let curr_height = 0.1f32.min(curr_width); curr_y += curr_height * 4.0; - let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, curr_y, 0.0]); + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, curr_y, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs index 908985b..1bd1504 100644 --- a/examples3d/debug_boxes3.rs +++ b/examples3d/debug_boxes3.rs @@ -17,8 +17,7 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; for _ in 0..6 { - let rigid_body = - RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); @@ -26,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) { // Build the dynamic box rigid body. for _ in 0..2 { - let rigid_body = RigidBodyBuilder::new_dynamic() + let rigid_body = RigidBodyBuilder::dynamic() .translation(vector![1.1, 0.0, 0.0]) // .ro