From ed529fb8dd2cfeb9020a8cffd5b825d7d1f8ce92 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 29 Dec 2020 11:42:57 +0100 Subject: Move the harness example to the examples folder. --- benchmarks3d/Cargo.toml | 4 --- benchmarks3d/harness_capsules3.rs | 72 --------------------------------------- examples3d/Cargo.toml | 4 +++ examples3d/harness_capsules3.rs | 72 +++++++++++++++++++++++++++++++++++++++ 4 files changed, 76 insertions(+), 76 deletions(-) delete mode 100644 benchmarks3d/harness_capsules3.rs create mode 100644 examples3d/harness_capsules3.rs diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml index 1ae91e4..03194df 100644 --- a/benchmarks3d/Cargo.toml +++ b/benchmarks3d/Cargo.toml @@ -25,7 +25,3 @@ path = "../build/rapier3d" [[bin]] name = "all_benchmarks3" path = "all_benchmarks3.rs" - -[[bin]] -name = "harness_capsules3" -path = "harness_capsules3.rs" diff --git a/benchmarks3d/harness_capsules3.rs b/benchmarks3d/harness_capsules3.rs deleted file mode 100644 index 4632811..0000000 --- a/benchmarks3d/harness_capsules3.rs +++ /dev/null @@ -1,72 +0,0 @@ -extern crate nalgebra as na; - -use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; -use rapier_testbed3d::harness::Harness; - -pub fn init_world(harness: &mut Harness) { - /* - * World - */ - let mut bodies = RigidBodySet::new(); - let mut colliders = ColliderSet::new(); - let joints = JointSet::new(); - - /* - * Ground - */ - let ground_size = 200.1; - 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); - - /* - * Create the cubes - */ - let num = 8; - let rad = 1.0; - - let shift = rad * 2.0 + rad; - let shifty = rad * 4.0; - let centerx = shift * (num / 2) as f32; - let centery = shift / 2.0; - let centerz = shift * (num / 2) as f32; - - let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; - - for j in 0usize..47 { - for i in 0..num { - for k in 0usize..num { - let x = i as f32 * shift - centerx + offset; - let y = j as f32 * shifty + centery + 3.0; - let z = k as f32 * shift - centerz + offset; - - // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); - let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_y(rad, rad).build(); - colliders.insert(collider, handle, &mut bodies); - } - } - - offset -= 0.05 * rad * (num as f32 - 1.0); - } - - /* - * Set up the harness. - */ - harness.set_world(bodies, colliders, joints); -} - -fn main() { - let harness = &mut Harness::new_empty(); - init_world(harness); - harness.set_max_steps(10000); - harness.run(); - println!("{}", harness.state.timestep_id); -} diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml index 5362554..46fbca6 100644 --- a/examples3d/Cargo.toml +++ b/examples3d/Cargo.toml @@ -25,3 +25,7 @@ path = "../build/rapier3d" [[bin]] name = "all_examples3" path = "./all_examples3.rs" + +[[bin]] +name = "harness_capsules3" +path = "./harness_capsules3.rs" diff --git a/examples3d/harness_capsules3.rs b/examples3d/harness_capsules3.rs new file mode 100644 index 0000000..4632811 --- /dev/null +++ b/examples3d/harness_capsules3.rs @@ -0,0 +1,72 @@ +extern crate nalgebra as na; + +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::harness::Harness; + +pub fn init_world(harness: &mut Harness) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let joints = JointSet::new(); + + /* + * Ground + */ + let ground_size = 200.1; + 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); + + /* + * Create the cubes + */ + let num = 8; + let rad = 1.0; + + let shift = rad * 2.0 + rad; + let shifty = rad * 4.0; + let centerx = shift * (num / 2) as f32; + let centery = shift / 2.0; + let centerz = shift * (num / 2) as f32; + + let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; + + for j in 0usize..47 { + for i in 0..num { + for k in 0usize..num { + let x = i as f32 * shift - centerx + offset; + let y = j as f32 * shifty + centery + 3.0; + let z = k as f32 * shift - centerz + offset; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::capsule_y(rad, rad).build(); + colliders.insert(collider, handle, &mut bodies); + } + } + + offset -= 0.05 * rad * (num as f32 - 1.0); + } + + /* + * Set up the harness. + */ + harness.set_world(bodies, colliders, joints); +} + +fn main() { + let harness = &mut Harness::new_empty(); + init_world(harness); + harness.set_max_steps(10000); + harness.run(); + println!("{}", harness.state.timestep_id); +} -- cgit