From 7983c256064b021400a529be01bd092d87ed0e85 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 8 Mar 2021 15:12:45 +0100 Subject: Start introducing SAP layers. --- examples3d/debug_big_colliders3.rs | 53 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 examples3d/debug_big_colliders3.rs (limited to 'examples3d/debug_big_colliders3.rs') diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs new file mode 100644 index 0000000..c2b62e2 --- /dev/null +++ b/examples3d/debug_big_colliders3.rs @@ -0,0 +1,53 @@ +use na::Point3; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::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 = 100.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::new_static().build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size) + .friction(1.5) + .build(); + colliders.insert(collider, handle, &mut bodies); + + let mut curr_y = 0.0; + let mut curr_width = 1_000.0; + + for _ in 0..6 { + curr_y += curr_width; + + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(0.0, curr_y, 0.0) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(curr_width, curr_width, curr_width).build(); + colliders.insert(collider, handle, &mut bodies); + + curr_width /= 10.0; + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} -- cgit From 326469a1df9d8502903d88fe8e47a67e9e7c9edd Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 17 Mar 2021 09:34:56 +0100 Subject: Fix the last few bugs and unbounded memory usage. --- examples3d/debug_big_colliders3.rs | 23 ++++++++++------------- 1 file changed, 10 insertions(+), 13 deletions(-) (limited to 'examples3d/debug_big_colliders3.rs') diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs index c2b62e2..956f36a 100644 --- a/examples3d/debug_big_colliders3.rs +++ b/examples3d/debug_big_colliders3.rs @@ -1,6 +1,6 @@ -use na::Point3; +use na::{Point3, Vector3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, SharedShape}; use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -14,30 +14,27 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground */ - let ground_size = 100.0; - let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size) - .friction(1.5) - .build(); + let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis())); + let collider = ColliderBuilder::new(halfspace).build(); colliders.insert(collider, handle, &mut bodies); let mut curr_y = 0.0; - let mut curr_width = 1_000.0; + let mut curr_width = 10_000.0; - for _ in 0..6 { - curr_y += curr_width; + for _ in 0..12 { + let curr_height = 0.1f32.min(curr_width); + curr_y += curr_height * 4.0; let rigid_body = RigidBodyBuilder::new_dynamic() .translation(0.0, curr_y, 0.0) .build(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(curr_width, curr_width, curr_width).build(); + let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build(); colliders.insert(collider, handle, &mut bodies); - curr_width /= 10.0; + curr_width /= 5.0; } /* -- cgit