From 8d925a02ef97844bc937584a9095c1396daeee35 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Sun, 27 Dec 2020 18:14:22 +0100
Subject: Add convex polygons support.

---
 benchmarks2d/all_benchmarks2.rs  |  2 +
 benchmarks2d/convex_polygons2.rs | 86 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 88 insertions(+)
 create mode 100644 benchmarks2d/convex_polygons2.rs

(limited to 'benchmarks2d')

diff --git a/benchmarks2d/all_benchmarks2.rs b/benchmarks2d/all_benchmarks2.rs
index 9a7a607..e5f2ff1 100644
--- a/benchmarks2d/all_benchmarks2.rs
+++ b/benchmarks2d/all_benchmarks2.rs
@@ -13,6 +13,7 @@ use std::cmp::Ordering;
 mod balls2;
 mod boxes2;
 mod capsules2;
+mod convex_polygons2;
 mod heightfield2;
 mod joint_ball2;
 mod joint_fixed2;
@@ -55,6 +56,7 @@ pub fn main() {
         ("Balls", balls2::init_world),
         ("Boxes", boxes2::init_world),
         ("Capsules", capsules2::init_world),
+        ("Convex polygons", convex_polygons2::init_world),
         ("Heightfield", heightfield2::init_world),
         ("Pyramid", pyramid2::init_world),
         ("(Stress test) joint ball", joint_ball2::init_world),
diff --git a/benchmarks2d/convex_polygons2.rs b/benchmarks2d/convex_polygons2.rs
new file mode 100644
index 0000000..f5a6da9
--- /dev/null
+++ b/benchmarks2d/convex_polygons2.rs
@@ -0,0 +1,86 @@
+use na::Point2;
+use rand::distributions::{Distribution, Standard};
+use rand::{rngs::StdRng, SeedableRng};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 30.0;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(ground_size, ground_size * 2.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .rotation(std::f32::consts::FRAC_PI_2)
+        .translation(-ground_size, ground_size * 2.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the convex polygons
+     */
+    let num = 26;
+    let scale = 2.0;
+    let border_rad = 0.0;
+
+    let shift = border_rad * 2.0 + scale;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+
+    let mut rng = StdRng::seed_from_u64(0);
+    let distribution = Standard;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            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(x, y).build();
+            let handle = bodies.insert(rigid_body);
+
+            let mut points = Vec::new();
+
+            for _ in 0..10 {
+                let pt: Point2<f32> = distribution.sample(&mut rng);
+                points.push(pt * scale);
+            }
+
+            let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}
-- 
cgit 


From aa61fe65e3ff0289ecab57b4053a3410cf6d4a87 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 4 Jan 2021 15:14:25 +0100
Subject: Add support of 64-bits reals.

---
 benchmarks2d/Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'benchmarks2d')

diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml
index 90a6326..21169bb 100644
--- a/benchmarks2d/Cargo.toml
+++ b/benchmarks2d/Cargo.toml
@@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 [dependencies]
 rand       = "0.7"
 Inflector  = "0.11"
-nalgebra = "0.23"
+nalgebra   = "0.24"
 
 [dependencies.rapier_testbed2d]
 path = "../build/rapier_testbed2d"
-- 
cgit 


From cc60809afca7137bc192d56734ce12b385c32eda Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 6 Jan 2021 18:09:12 +0100
Subject: Add 2D trimesh example.

---
 benchmarks2d/capsules2.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'benchmarks2d')

diff --git a/benchmarks2d/capsules2.rs b/benchmarks2d/capsules2.rs
index 76633bc..6369ef6 100644
--- a/benchmarks2d/capsules2.rs
+++ b/benchmarks2d/capsules2.rs
@@ -41,6 +41,7 @@ pub fn init_world(testbed: &mut Testbed) {
      * Create the cubes
      */
     let num = 26;
+    let numy = num * 5;
     let rad = 0.5;
 
     let shift = rad * 2.0;
@@ -49,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let centery = shift / 2.0;
 
     for i in 0..num {
-        for j in 0usize..num * 5 {
+        for j in 0usize..numy {
             let x = i as f32 * shift - centerx;
             let y = j as f32 * shifty + centery + 3.0;
 
-- 
cgit