From a072d4056a51c2965c598efcb35459f01796ea18 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 1 Dec 2020 15:04:30 +0100 Subject: Rename RigidBodyBuilder::principal_inertia -> principal_angular_inertia for clarity. --- CHANGELOG.md | 4 ++ examples2d/all_examples2.rs | 4 +- examples2d/locked_rotation2.rs | 63 ------------------------------ examples2d/locked_rotations2.rs | 63 ++++++++++++++++++++++++++++++ examples3d/all_examples3.rs | 4 +- examples3d/debug_add_remove_collider3.rs | 2 +- examples3d/debug_dynamic_collider_add3.rs | 4 +- examples3d/debug_rollback3.rs | 6 +-- examples3d/locked_rotation3.rs | 64 ------------------------------- examples3d/locked_rotations3.rs | 64 +++++++++++++++++++++++++++++++ src/dynamics/rigid_body.rs | 31 ++++++++++++--- 11 files changed, 167 insertions(+), 142 deletions(-) delete mode 100644 examples2d/locked_rotation2.rs create mode 100644 examples2d/locked_rotations2.rs delete mode 100644 examples3d/locked_rotation3.rs create mode 100644 examples3d/locked_rotations3.rs diff --git a/CHANGELOG.md b/CHANGELOG.md index 0c722e9..c780bd5 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,7 @@ +## v0.4.1 +- The `RigidBodyBuilder::principal_inertia` method has been deprecated and renamed to + `principal_angular_inertia` for clarity. + ## v0.4.0 - The rigid-body `linvel`, `angvel`, and `position` fields are no longer public. Access using their corresponding getters/setters. For example: `rb.linvel()`, `rb.set_linvel(vel, true)`. diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs index dda50d6..d6cf947 100644 --- a/examples2d/all_examples2.rs +++ b/examples2d/all_examples2.rs @@ -16,7 +16,7 @@ mod damping2; mod debug_box_ball2; mod heightfield2; mod joints2; -mod locked_rotation2; +mod locked_rotations2; mod platform2; mod pyramid2; mod restitution2; @@ -60,7 +60,7 @@ pub fn main() { ("Damping", damping2::init_world), ("Heightfield", heightfield2::init_world), ("Joints", joints2::init_world), - ("Locked rotations", locked_rotation2::init_world), + ("Locked rotations", locked_rotations2::init_world), ("Platform", platform2::init_world), ("Pyramid", pyramid2::init_world), ("Restitution", restitution2::init_world), diff --git a/examples2d/locked_rotation2.rs b/examples2d/locked_rotation2.rs deleted file mode 100644 index f3d7fc2..0000000 --- a/examples2d/locked_rotation2.rs +++ /dev/null @@ -1,63 +0,0 @@ -use na::Point2; -use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier2d::geometry::{ColliderBuilder, ColliderSet}; -use rapier_testbed2d::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(); - - /* - * The ground - */ - let ground_size = 5.0; - let ground_height = 0.1; - - let rigid_body = RigidBodyBuilder::new_static() - .translation(0.0, -ground_height) - .build(); - let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height).build(); - colliders.insert(collider, handle, &mut bodies); - - /* - * A rectangle that only rotate. - */ - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(0.0, 3.0) - .lock_translations() - .build(); - let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(2.0, 0.6).build(); - colliders.insert(collider, handle, &mut bodies); - - /* - * A tilted capsule that cannot rotate. - */ - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(0.0, 5.0) - .rotation(1.0) - .lock_rotations() - .build(); - let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_y(0.6, 0.4).build(); - colliders.insert(collider, handle, &mut bodies); - - /* - * Set up the testbed. - */ - testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point2::new(0.0, 0.0), 40.0); -} - -fn main() { - let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); - testbed.run() -} diff --git a/examples2d/locked_rotations2.rs b/examples2d/locked_rotations2.rs new file mode 100644 index 0000000..f3d7fc2 --- /dev/null +++ b/examples2d/locked_rotations2.rs @@ -0,0 +1,63 @@ +use na::Point2; +use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier2d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed2d::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(); + + /* + * The ground + */ + let ground_size = 5.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::new_static() + .translation(0.0, -ground_height) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * A rectangle that only rotate. + */ + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(0.0, 3.0) + .lock_translations() + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(2.0, 0.6).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * A tilted capsule that cannot rotate. + */ + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(0.0, 5.0) + .rotation(1.0) + .lock_rotations() + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::capsule_y(0.6, 0.4).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point2::new(0.0, 0.0), 40.0); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 875643d..4bc15a8 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -26,7 +26,7 @@ mod fountain3; mod heightfield3; mod joints3; mod keva3; -mod locked_rotation3; +mod locked_rotations3; mod platform3; mod primitives3; mod restitution3; @@ -79,7 +79,7 @@ pub fn main() { ("Domino", domino3::init_world), ("Heightfield", heightfield3::init_world), ("Joints", joints3::init_world), - ("Locked rotations", locked_rotation3::init_world), + ("Locked rotations", locked_rotations3::init_world), ("Platform", platform3::init_world), ("Restitution", restitution3::init_world), ("Stacks", stacks3::init_world), diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs index c8d72fc..a42dc97 100644 --- a/examples3d/debug_add_remove_collider3.rs +++ b/examples3d/debug_add_remove_collider3.rs @@ -1,4 +1,4 @@ -use na::{Isometry3, Point3, Vector3}; +use na::Point3; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; use rapier3d::geometry::{ColliderBuilder, ColliderSet}; use rapier_testbed3d::Testbed; diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs index 4ea6836..a71e95e 100644 --- a/examples3d/debug_dynamic_collider_add3.rs +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) { .friction(0.15) // .restitution(0.5) .build(); - let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); + colliders.insert(collider, ground_handle, &mut bodies); /* * Rolling ball @@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) { extra_colliders.push(new_ball_collider_handle); // Snap the ball velocity or restore it. - let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); + let ball = physics.bodies.get_mut(ball_handle).unwrap(); if step == snapped_frame { linvel = *ball.linvel(); diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs index 6479e1f..19f9474 100644 --- a/examples3d/debug_rollback3.rs +++ b/examples3d/debug_rollback3.rs @@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) { .friction(0.15) // .restitution(0.5) .build(); - let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); + colliders.insert(collider, ground_handle, &mut bodies); /* * Rolling ball @@ -44,11 +44,11 @@ pub fn init_world(testbed: &mut Testbed) { let mut step = 0; let snapped_frame = 51; - testbed.add_callback(move |window, physics, _, graphics, _| { + testbed.add_callback(move |_, physics, _, _, _| { step += 1; // Snap the ball velocity or restore it. - let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); + let ball = physics.bodies.get_mut(ball_handle).unwrap(); if step == snapped_frame { linvel = *ball.linvel(); diff --git a/examples3d/locked_rotation3.rs b/examples3d/locked_rotation3.rs deleted file mode 100644 index e8aee41..0000000 --- a/examples3d/locked_rotation3.rs +++ /dev/null @@ -1,64 +0,0 @@ -use na::{Point3, Vector3}; -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(); - - /* - * The 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 handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); - colliders.insert(collider, handle, &mut bodies); - - /* - * A rectangle that only rotates along the `x` axis. - */ - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(0.0, 3.0, 0.0) - .lock_translations() - .principal_inertia(Vector3::zeros(), Vector3::new(true, false, false)) - .build(); - let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build(); - colliders.insert(collider, handle, &mut bodies); - - /* - * A tilted capsule that cannot rotate. - */ - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(0.0, 5.0, 0.0) - .rotation(Vector3::x() * 1.0) - .lock_rotations() - .build(); - let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_y(0.6, 0.4).build(); - colliders.insert(collider, handle, &mut bodies); - - /* - * Set up the testbed. - */ - testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point3::new(10.0, 3.0, 0.0), Point3::new(0.0, 3.0, 0.0)); -} - -fn main() { - let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); - testbed.run() -} diff --git a/examples3d/locked_rotations3.rs b/examples3d/locked_rotations3.rs new file mode 100644 index 0000000..a39895a --- /dev/null +++ b/examples3d/locked_rotations3.rs @@ -0,0 +1,64 @@ +use na::{Point3, Vector3}; +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(); + + /* + * The 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 handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * A rectangle that only rotates along the `x` axis. + */ + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(0.0, 3.0, 0.0) + .lock_translations() + .principal_angular_inertia(Vector3::zeros(), Vector3::new(true, false, false)) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * A tilted capsule that cannot rotate. + */ + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(0.0, 5.0, 0.0) + .rotation(Vector3::x() * 1.0) + .lock_rotations() + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::capsule_y(0.6, 0.4).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(10.0, 3.0, 0.0), Point3::new(0.0, 3.0, 0.0)); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index 98ae47a..86a126f 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -646,9 +646,9 @@ impl RigidBodyBuilder { /// See the documentation of [`RigidBodyBuilder::principal_inertia`] for more details. pub fn lock_rotations(self) -> Self { #[cfg(feature = "dim2")] - return self.principal_inertia(0.0, false); + return self.principal_angular_inertia(0.0, false); #[cfg(feature = "dim3")] - return self.principal_inertia(Vector::zeros(), Vector::repeat(false)); + return self.principal_angular_inertia(Vector::zeros(), Vector::repeat(false)); } /// Sets the mass of the rigid-body being built. @@ -670,7 +670,6 @@ impl RigidBodyBuilder { ); self } - /// Sets the angular inertia of this rigid-body. /// /// In order to lock the rotations of this rigid-body (by @@ -682,7 +681,11 @@ impl RigidBodyBuilder { /// will depend on the initial principal inertia set by this method to which is added /// the contributions of all the colliders with non-zero density attached to this rigid-body. #[cfg(feature = "dim2")] - pub fn principal_inertia(mut self, inertia: f32, colliders_contribution_enabled: bool) -> Self { + pub fn principal_angular_inertia( + mut self, + inertia: f32, + colliders_contribution_enabled: bool, + ) -> Self { self.mass_properties.inv_principal_inertia_sqrt = utils::inv(inertia); self.flags.set( RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_X @@ -693,6 +696,13 @@ impl RigidBodyBuilder { self } + /// Use `self.principal_angular_inertia` instead. + #[cfg(feature = "dim2")] + #[deprecated(note = "renamed to `principal_angular_inertia`.")] + pub fn principal_inertia(self, inertia: f32, colliders_contribution_enabled: bool) -> Self { + self.principal_angular_inertia(inertia, colliders_contribution_enabled) + } + /// Sets the principal angular inertia of this rigid-body. /// /// In order to lock the rotations of this rigid-body (by @@ -706,7 +716,7 @@ impl RigidBodyBuilder { /// to which is added the contributions of all the colliders with non-zero density /// attached to this rigid-body. #[cfg(feature = "dim3")] - pub fn principal_inertia( + pub fn principal_angular_inertia( mut self, inertia: AngVector, colliders_contribution_enabled: AngVector, @@ -727,6 +737,17 @@ impl RigidBodyBuilder { self } + /// Use `self.principal_angular_inertia` instead. + #[cfg(feature = "dim3")] + #[deprecated(note = "renamed to `principal_angular_inertia`.")] + pub fn principal_inertia( + self, + inertia: AngVector, + colliders_contribution_enabled: AngVector, + ) -> Self { + self.principal_angular_inertia(inertia, colliders_contribution_enabled) + } + /// Sets the damping factor for the linear part of the rigid-body motion. /// /// The higher the linear damping factor is, the more quickly the rigid-body -- cgit