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/all_examples3.rs | 2 ++ examples3d/debug_cylinder3.rs | 65 +++++++++++++++++++++++++++++++++++++++++++ examples3d/heightfield3.rs | 14 +++++----- examples3d/primitives3.rs | 25 +++++++++-------- examples3d/trimesh3.rs | 14 +++++----- 5 files changed, 94 insertions(+), 26 deletions(-) create mode 100644 examples3d/debug_cylinder3.rs (limited to 'examples3d') diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 64eb5b6..85b2504 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -13,6 +13,7 @@ use std::cmp::Ordering; mod add_remove3; mod compound3; mod debug_boxes3; +mod debug_cylinder3; mod debug_triangle3; mod debug_trimesh3; mod domino3; @@ -76,6 +77,7 @@ pub fn main() { ("(Debug) boxes", debug_boxes3::init_world), ("(Debug) triangle", debug_triangle3::init_world), ("(Debug) trimesh", debug_trimesh3::init_world), + ("(Debug) cylinder", debug_cylinder3::init_world), ]; // Lexicographic sort, with stress tests moved at the end of the list. diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs new file mode 100644 index 0000000..4e7fae1 --- /dev/null +++ b/examples3d/debug_cylinder3.rs @@ -0,0 +1,65 @@ +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(); + + /* + * Ground + */ + let ground_size = 100.1; + 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 = 1; + let rad = 1.0; + + 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; + + let x = -centerx + offset; + let y = centery + 3.0; + let z = -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::cylinder(rad, rad).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index 09df815..826df4c 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -54,13 +54,13 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - if j % 2 == 0 { - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); - colliders.insert(collider, handle, &mut bodies); - } else { - let collider = ColliderBuilder::ball(rad).build(); - colliders.insert(collider, handle, &mut bodies); - } + let collider = match j % 3 { + 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), + 1 => ColliderBuilder::ball(rad).build(), + _ => ColliderBuilder::cylinder(rad, rad).build(), + }; + + colliders.insert(collider, handle, &mut bodies); } } } 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); diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index d022a1f..40aede2 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -64,13 +64,13 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - if j % 2 == 0 { - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); - colliders.insert(collider, handle, &mut bodies); - } else { - let collider = ColliderBuilder::ball(rad).build(); - colliders.insert(collider, handle, &mut bodies); - } + let collider = match j % 3 { + 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), + 1 => ColliderBuilder::ball(rad).build(), + _ => 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/heightfield3.rs | 5 +++-- examples3d/primitives3.rs | 5 +++-- examples3d/trimesh3.rs | 5 +++-- 3 files changed, 9 insertions(+), 6 deletions(-) (limited to 'examples3d') diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index 826df4c..2f26dde 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -54,10 +54,11 @@ 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); 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); diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index 40aede2..2d6c0bb 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -64,10 +64,11 @@ 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/heightfield3.rs | 4 +++- examples3d/primitives3.rs | 4 +++- examples3d/trimesh3.rs | 4 +++- 3 files changed, 9 insertions(+), 3 deletions(-) (limited to 'examples3d') diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index 2f26dde..8c3386a 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -57,7 +57,9 @@ 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(), }; 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(), }; diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index 2d6c0bb..8fee784 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -67,7 +67,9 @@ 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/heightfield3.rs | 2 +- examples3d/primitives3.rs | 2 +- examples3d/trimesh3.rs | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) (limited to 'examples3d') diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index 8c3386a..1213020 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -59,7 +59,7 @@ 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(), }; 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(), }; diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index 8fee784..5ada899 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -69,7 +69,7 @@ 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 e028f4504065b228bea8b736265e8b1bfb58f7f3 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 26 Oct 2020 14:33:31 +0100 Subject: Update dependencies. --- examples3d/Cargo.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'examples3d') diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml index efc3cce..5362554 100644 --- a/examples3d/Cargo.toml +++ b/examples3d/Cargo.toml @@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ] [dependencies] rand = "0.7" Inflector = "0.11" -nalgebra = "0.22" +nalgebra = "0.23" [dependencies.rapier_testbed3d] path = "../build/rapier_testbed3d" -- 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/heightfield3.rs | 5 +++-- examples3d/primitives3.rs | 5 +++-- examples3d/trimesh3.rs | 5 +++-- 3 files changed, 9 insertions(+), 6 deletions(-) (limited to 'examples3d') diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index 1213020..6af93c7 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -54,13 +54,14 @@ 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); 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); diff --git a/examples3d/trimesh3.rs b/examples3d/trimesh3.rs index 5ada899..2a96bda 100644 --- a/examples3d/trimesh3.rs +++ b/examples3d/trimesh3.rs @@ -64,13 +64,14 @@ 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/debug_cylinder3.rs | 4 ++-- examples3d/primitives3.rs | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) (limited to 'examples3d') diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs index 4e7fae1..0717c67 100644 --- a/examples3d/debug_cylinder3.rs +++ b/examples3d/debug_cylinder3.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; @@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) { let centery = shifty / 2.0; let centerz = shiftz * (num / 2) as f32; - let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; + let offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; let x = -centerx + offset; let y = centery + 3.0; 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