From 947c4813c9666fd8215743de298fe17780fa3ef2 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 19 Oct 2020 16:51:40 +0200 Subject: Complete the pfm/pfm contact generator. --- examples3d/primitives3.rs | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) (limited to 'examples3d/primitives3.rs') diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs index cf678b9..c3fa799 100644 --- a/examples3d/primitives3.rs +++ b/examples3d/primitives3.rs @@ -1,4 +1,4 @@ -use na::Point3; +use na::{Point3, Vector3}; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; use rapier3d::geometry::{ColliderBuilder, ColliderSet}; use rapier_testbed3d::Testbed; @@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) { * Ground */ let ground_size = 100.1; - let ground_height = 0.1; + let ground_height = 2.1; let rigid_body = RigidBodyBuilder::new_static() .translation(0.0, -ground_height, 0.0) @@ -30,29 +30,30 @@ pub fn init_world(testbed: &mut Testbed) { let num = 8; let rad = 1.0; - let shift = rad * 2.0 + rad; - let centerx = shift * (num / 2) as f32; - let centery = shift / 2.0; - let centerz = shift * (num / 2) as f32; + let shiftx = rad * 2.0 + rad; + let shifty = rad * 2.0 + rad; + let shiftz = rad * 2.0 + rad; + let centerx = shiftx * (num / 2) as f32; + let centery = shifty / 2.0; + let centerz = shiftz * (num / 2) as f32; let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; for j in 0usize..20 { for i in 0..num { for k in 0usize..num { - let x = i as f32 * shift - centerx + offset; - let y = j as f32 * shift + centery + 3.0; - let z = k as f32 * shift - centerz + offset; + let x = i as f32 * shiftx - centerx + offset; + let y = j as f32 * shifty + centery + 3.0; + let z = k as f32 * shiftz - 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 = match j % 2 { + let collider = match j % 3 { 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), 1 => ColliderBuilder::ball(rad).build(), - // 2 => ColliderBuilder::capsule_y(rad, rad).build(), - _ => unreachable!(), + _ => ColliderBuilder::cylinder(rad, rad).build(), }; colliders.insert(collider, handle, &mut bodies); -- cgit From d513c22d33ab44b0048355bcfd1db4173b3f7ece Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 20 Oct 2020 14:16:01 +0200 Subject: Add cone support. --- examples3d/primitives3.rs | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'examples3d/primitives3.rs') diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs index c3fa799..4e2fc19 100644 --- a/examples3d/primitives3.rs +++ b/examples3d/primitives3.rs @@ -50,10 +50,11 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = match j % 3 { + let collider = match j % 4 { 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), 1 => ColliderBuilder::ball(rad).build(), - _ => ColliderBuilder::cylinder(rad, rad).build(), + 2 => ColliderBuilder::cylinder(rad, rad).build(), + _ => ColliderBuilder::cone(rad, rad).build(), }; colliders.insert(collider, handle, &mut bodies); -- cgit From 64958470950cd9832a669b1bd5d70a2aeb6a85ef Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 20 Oct 2020 15:57:54 +0200 Subject: Add rounded cylinder. --- examples3d/primitives3.rs | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'examples3d/primitives3.rs') diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs index 4e2fc19..daabd23 100644 --- a/examples3d/primitives3.rs +++ b/examples3d/primitives3.rs @@ -53,7 +53,9 @@ pub fn init_world(testbed: &mut Testbed) { let collider = match j % 4 { 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), 1 => ColliderBuilder::ball(rad).build(), - 2 => ColliderBuilder::cylinder(rad, rad).build(), + // Rounded cylinders are much more efficient that cylinder, even if the + // rounding margin is small. + 2 => ColliderBuilder::rounded_cylinder(rad, rad, rad / 10.0).build(), _ => ColliderBuilder::cone(rad, rad).build(), }; -- cgit From f7a6f433d62ea427f6e2233365a6f534ca7e1c63 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 20 Oct 2020 18:14:20 +0200 Subject: Rename rounded -> round. --- examples3d/primitives3.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'examples3d/primitives3.rs') diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs index daabd23..96636a4 100644 --- a/examples3d/primitives3.rs +++ b/examples3d/primitives3.rs @@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) { 1 => ColliderBuilder::ball(rad).build(), // Rounded cylinders are much more efficient that cylinder, even if the // rounding margin is small. - 2 => ColliderBuilder::rounded_cylinder(rad, rad, rad / 10.0).build(), + 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(), _ => ColliderBuilder::cone(rad, rad).build(), }; -- cgit From 2b628f9580a826722346983ef42672d4e8dd8053 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 26 Oct 2020 15:58:30 +0100 Subject: Redefine capsules as a segment with a radius, allowing us to reuse the pfm_pfm_contact generator for it. --- examples3d/primitives3.rs | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'examples3d/primitives3.rs') diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs index 96636a4..6a98077 100644 --- a/examples3d/primitives3.rs +++ b/examples3d/primitives3.rs @@ -50,13 +50,14 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider = match j % 4 { + let collider = match j % 5 { 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), 1 => ColliderBuilder::ball(rad).build(), // Rounded cylinders are much more efficient that cylinder, even if the // rounding margin is small. 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(), - _ => ColliderBuilder::cone(rad, rad).build(), + 3 => ColliderBuilder::cone(rad, rad).build(), + _ => ColliderBuilder::capsule_y(rad, rad).build(), }; colliders.insert(collider, handle, &mut bodies); -- cgit From 08930b1238c90bec16db84c50ac4ea7c9a1e0a5b Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 26 Oct 2020 16:36:07 +0100 Subject: Fix multiple warnings. --- examples3d/primitives3.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'examples3d/primitives3.rs') diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs index 6a98077..db15341 100644 --- a/examples3d/primitives3.rs +++ b/examples3d/primitives3.rs @@ -1,4 +1,4 @@ -use na::{Point3, Vector3}; +use na::Point3; use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; use rapier3d::geometry::{ColliderBuilder, ColliderSet}; use rapier_testbed3d::Testbed; -- cgit