From fb20d72ee29de9311a81aec6eb9f02fd2aa35fc4 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 20 Feb 2022 12:55:00 +0100 Subject: Joint API and joint motors improvements --- examples3d/articulations3.rs | 226 ++++++++++-------------- examples3d/ccd3.rs | 24 +-- examples3d/collision_groups3.rs | 20 +-- examples3d/compound3.rs | 20 +-- examples3d/convex_decomposition3.rs | 12 +- examples3d/convex_polyhedron3.rs | 14 +- examples3d/damping3.rs | 5 +- examples3d/debug_add_remove_collider3.rs | 12 +- examples3d/debug_articulations3.rs | 23 +-- examples3d/debug_big_colliders3.rs | 10 +- examples3d/debug_boxes3.rs | 12 +- examples3d/debug_cylinder3.rs | 12 +- examples3d/debug_dynamic_collider_add3.rs | 18 +- examples3d/debug_friction3.rs | 11 +- examples3d/debug_infinite_fall3.rs | 16 +- examples3d/debug_prismatic3.rs | 56 +++--- examples3d/debug_rollback3.rs | 11 +- examples3d/debug_shape_modification3.rs | 25 ++- examples3d/debug_triangle3.rs | 11 +- examples3d/debug_trimesh3.rs | 11 +- examples3d/domino3.rs | 10 +- examples3d/fountain3.rs | 16 +- examples3d/harness_capsules3.rs | 12 +- examples3d/heightfield3.rs | 20 +-- examples3d/joints3.rs | 282 +++++++++++++----------------- examples3d/keva3.rs | 34 ++-- examples3d/locked_rotations3.rs | 18 +- examples3d/one_way_platforms3.rs | 14 +- examples3d/platform3.rs | 32 ++-- examples3d/primitives3.rs | 20 +-- examples3d/restitution3.rs | 20 +-- examples3d/sensor3.rs | 21 +-- examples3d/trimesh3.rs | 20 +-- 33 files changed, 425 insertions(+), 643 deletions(-) (limited to 'examples3d') diff --git a/examples3d/articulations3.rs b/examples3d/articulations3.rs index 0c87c41..a5dae03 100644 --- a/examples3d/articulations3.rs +++ b/examples3d/articulations3.rs @@ -13,20 +13,17 @@ fn create_prismatic_joints( let rad = 0.4; let shift = 2.0; - let ground = RigidBodyBuilder::new_static() - .translation(vector![origin.x, origin.y, origin.z]) - .build(); + let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]); let mut curr_parent = bodies.insert(ground); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, curr_parent, bodies); for i in 0..num { let z = origin.z + (i + 1) as f32 * shift; - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![origin.x, origin.y, z]) - .build(); + let rigid_body = + RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]); let curr_child = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, curr_child, bodies); let axis = if i % 2 == 0 { @@ -35,10 +32,10 @@ fn create_prismatic_joints( UnitVector::new_normalize(vector![-1.0f32, 1.0, 0.0]) }; - let prism = PrismaticJoint::new(axis) + let prism = PrismaticJointBuilder::new(axis) .local_anchor1(point![0.0, 0.0, 0.0]) .local_anchor2(point![0.0, 0.0, -shift]) - .limit_axis([-2.0, 2.0]); + .limits([-2.0, 2.0]); if use_articulations { multibody_joints.insert(curr_parent, curr_child, prism); @@ -61,20 +58,17 @@ fn create_actuated_prismatic_joints( let rad = 0.4; let shift = 2.0; - let ground = RigidBodyBuilder::new_static() - .translation(vector![origin.x, origin.y, origin.z]) - .build(); + let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]); let mut curr_parent = bodies.insert(ground); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, curr_parent, bodies); for i in 0..num { let z = origin.z + (i + 1) as f32 * shift; - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![origin.x, origin.y, z]) - .build(); + let rigid_body = + RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]); let curr_child = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, curr_child, bodies); let axis = if i % 2 == 0 { @@ -83,26 +77,29 @@ fn create_actuated_prismatic_joints( UnitVector::new_normalize(vector![-1.0, 1.0, 0.0]) }; - let mut prism = PrismaticJoint::new(axis) - .local_anchor1(point![0.0, 0.0, 0.0]) - .local_anchor2(point![0.0, 0.0, -shift]); + let mut prism = PrismaticJointBuilder::new(axis) + .local_anchor1(point![0.0, 0.0, shift]) + .local_anchor2(point![0.0, 0.0, 0.0]) + .build(); - if i == 1 { - prism = prism - .limit_axis([-Real::MAX, 5.0]) - .motor_velocity(1.0, 1.0) + if i == 0 { + prism + .set_motor_velocity(2.0, 1.0e5) // We set a max impulse so that the motor doesn't fight // the limits with large forces. - .motor_max_impulse(1.0); - } else if i > 1 { - prism = prism.motor_position(2.0, 0.01, 1.0); - } else { - prism = prism - .motor_velocity(1.0, 1.0) + .set_limits([-2.0, 5.0]) + .set_motor_max_force(100.0); + } else if i == 1 { + prism + .set_limits([-Real::MAX, 5.0]) + .set_motor_velocity(6.0, 1.0e3) // We set a max impulse so that the motor doesn't fight // the limits with large forces. - .motor_max_impulse(0.7) - .limit_axis([-2.0, 5.0]); + .set_motor_max_force(100.0); + } else if i > 1 { + prism + .set_motor_position(2.0, 1.0e3, 1.0e2) + .set_motor_max_force(60.0); } if use_articulations { @@ -127,11 +124,9 @@ fn create_revolute_joints( let rad = 0.4; let shift = 2.0; - let ground = RigidBodyBuilder::new_static() - .translation(vector![origin.x, origin.y, 0.0]) - .build(); + let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, 0.0]); let mut curr_parent = bodies.insert(ground); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, curr_parent, bodies); for i in 0..num { @@ -146,11 +141,9 @@ fn create_revolute_joints( let mut handles = [curr_parent; 4]; for k in 0..4 { - let rigid_body = RigidBodyBuilder::new_dynamic() - .position(positions[k]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().position(positions[k]); handles[k] = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, handles[k], bodies); } @@ -158,10 +151,10 @@ fn create_revolute_joints( let x = Vector::x_axis(); let z = Vector::z_axis(); let revs = [ - RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]), - RevoluteJoint::new(x).local_anchor2(point![-shift, 0.0, 0.0]), - RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]), - RevoluteJoint::new(x).local_anchor2(point![shift, 0.0, 0.0]), + RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]), + RevoluteJointBuilder::new(x).local_anchor2(point![-shift, 0.0, 0.0]), + RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]), + RevoluteJointBuilder::new(x).local_anchor2(point![shift, 0.0, 0.0]), ]; if use_articulations { @@ -188,37 +181,18 @@ fn create_revolute_joints_with_limits( origin: Point, use_articulations: bool, ) { - let ground = bodies.insert( - RigidBodyBuilder::new_static() - .translation(origin.coords) - .build(), - ); + let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords)); - let platform1 = bodies.insert( - RigidBodyBuilder::new_dynamic() - .translation(origin.coords) - .build(), - ); - colliders.insert_with_parent( - ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(), - platform1, - bodies, - ); + let platform1 = bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords)); + colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform1, bodies); let shift = vector![0.0, 0.0, 6.0]; - let platform2 = bodies.insert( - RigidBodyBuilder::new_dynamic() - .translation(origin.coords + shift) - .build(), - ); - colliders.insert_with_parent( - ColliderBuilder::cuboid(4.0, 0.2, 2.0).build(), - platform2, - bodies, - ); + let platform2 = + bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift)); + colliders.insert_with_parent(ColliderBuilder::cuboid(4.0, 0.2, 2.0), platform2, bodies); let z = Vector::z_axis(); - let joint1 = RevoluteJoint::new(z).limit_axis([-0.2, 0.2]); + let joint1 = RevoluteJointBuilder::new(z).limits([-0.2, 0.2]); if use_articulations { multibody_joints.insert(ground, platform1, joint1); @@ -226,9 +200,9 @@ fn create_revolute_joints_with_limits( impulse_joints.insert(ground, platform1, joint1); } - let joint2 = RevoluteJoint::new(z) + let joint2 = RevoluteJointBuilder::new(z) .local_anchor2(-Point::from(shift)) - .limit_axis([-0.2, 0.2]); + .limits([-0.2, 0.2]); if use_articulations { multibody_joints.insert(platform1, platform2, joint2); @@ -238,23 +212,20 @@ fn create_revolute_joints_with_limits( // Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits. let cuboid_body1 = bodies.insert( - RigidBodyBuilder::new_dynamic() - .translation(origin.coords + vector![-2.0, 4.0, 0.0]) - .build(), + RigidBodyBuilder::new_dynamic().translation(origin.coords + vector![-2.0, 4.0, 0.0]), ); colliders.insert_with_parent( - ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0).build(), + ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0), cuboid_body1, bodies, ); let cuboid_body2 = bodies.insert( RigidBodyBuilder::new_dynamic() - .translation(origin.coords + shift + vector![2.0, 16.0, 0.0]) - .build(), + .translation(origin.coords + shift + vector![2.0, 16.0, 0.0]), ); colliders.insert_with_parent( - ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0).build(), + ColliderBuilder::cuboid(0.6, 0.6, 0.6).friction(1.0), cuboid_body2, bodies, ); @@ -288,22 +259,20 @@ fn create_fixed_joints( RigidBodyType::Dynamic }; - let rigid_body = RigidBodyBuilder::new(status) - .translation(vector![ - origin.x + fk * shift, - origin.y, - origin.z + fi * shift - ]) - .build(); + let rigid_body = RigidBodyBuilder::new(status).translation(vector![ + origin.x + fk * shift, + origin.y, + origin.z + fi * shift + ]); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).build(); + let collider = ColliderBuilder::ball(rad); colliders.insert_with_parent(collider, child_handle, bodies); // Vertical joint. if i > 0 { let parent_index = body_handles.len() - num; let parent_handle = body_handles[parent_index]; - let joint = FixedJoint::new().local_anchor2(point![0.0, 0.0, -shift]); + let joint = FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]); if use_articulations { multibody_joints.insert(parent_handle, child_handle, joint); @@ -316,7 +285,7 @@ fn create_fixed_joints( if k > 0 { let parent_index = body_handles.len() - 1; let parent_handle = body_handles[parent_index]; - let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]); + let joint = FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]); impulse_joints.insert(parent_handle, child_handle, joint); } @@ -349,17 +318,20 @@ fn create_spherical_joints( RigidBodyType::Dynamic }; - let rigid_body = RigidBodyBuilder::new(status) - .translation(vector![fk * shift, 0.0, fi * shift * 2.0]) - .build(); + let rigid_body = RigidBodyBuilder::new(status).translation(vector![ + fk * shift, + 0.0, + fi * shift * 2.0 + ]); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build(); + let collider = ColliderBuilder::capsule_z(rad * 1.25, rad); colliders.insert_with_parent(collider, child_handle, bodies); // Vertical joint. if i > 0 { let parent_handle = *body_handles.last().unwrap(); - let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]); + let joint = + SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]); if use_articulations { multibody_joints.insert(parent_handle, child_handle, joint); @@ -372,7 +344,7 @@ fn create_spherical_joints( if k > 0 { let parent_index = body_handles.len() - num; let parent_handle = body_handles[parent_index]; - let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]); + let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]); impulse_joints.insert(parent_handle, child_handle, joint); } @@ -391,44 +363,28 @@ fn create_spherical_joints_with_limits( ) { let shift = vector![0.0, 0.0, 3.0]; - let ground = bodies.insert( - RigidBodyBuilder::new_static() - .translation(origin.coords) - .build(), - ); + let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords)); let ball1 = bodies.insert( RigidBodyBuilder::new_dynamic() .translation(origin.coords + shift) - .linvel(vector![20.0, 20.0, 0.0]) - .build(), - ); - colliders.insert_with_parent( - ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(), - ball1, - bodies, + .linvel(vector![20.0, 20.0, 0.0]), ); + colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball1, bodies); - let ball2 = bodies.insert( - RigidBodyBuilder::new_dynamic() - .translation(origin.coords + shift * 2.0) - .build(), - ); - colliders.insert_with_parent( - ColliderBuilder::cuboid(1.0, 1.0, 1.0).build(), - ball2, - bodies, - ); + let ball2 = + bodies.insert(RigidBodyBuilder::new_dynamic().translation(origin.coords + shift * 2.0)); + colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), ball2, bodies); - let joint1 = SphericalJoint::new() + let joint1 = SphericalJointBuilder::new() .local_anchor2(Point::from(-shift)) - .limit_axis(JointAxis::X, [-0.2, 0.2]) - .limit_axis(JointAxis::Y, [-0.2, 0.2]); + .limits(JointAxis::X, [-0.2, 0.2]) + .limits(JointAxis::Y, [-0.2, 0.2]); - let joint2 = SphericalJoint::new() + let joint2 = SphericalJointBuilder::new() .local_anchor2(Point::from(-shift)) - .limit_axis(JointAxis::X, [-0.3, 0.3]) - .limit_axis(JointAxis::Y, [-0.3, 0.3]); + .limits(JointAxis::X, [-0.3, 0.3]) + .limits(JointAxis::Y, [-0.3, 0.3]); if use_articulations { multibody_joints.insert(ground, ball1, joint1); @@ -453,7 +409,7 @@ fn create_actuated_revolute_joints( // We will reuse this base configuration for all the impulse_joints here. let z = Vector::z_axis(); - let joint_template = RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]); + let joint_template = RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]); let mut parent_handle = RigidBodyHandle::invalid(); @@ -474,27 +430,27 @@ fn create_actuated_revolute_joints( let rigid_body = RigidBodyBuilder::new(status) .translation(vector![origin.x, origin.y + shifty, origin.z + fi * shift]) // .rotation(Vector3::new(0.0, fi * 1.1, 0.0)) - .build(); + ; let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad).build(); + let collider = ColliderBuilder::cuboid(rad * 2.0, rad * 6.0 / (fi + 1.0), rad); colliders.insert_with_parent(collider, child_handle, bodies); if i > 0 { - let mut joint = joint_template.clone(); + let mut joint = joint_template.motor_model(MotorModel::AccelerationBased); if i % 3 == 1 { - joint = joint.motor_velocity(-20.0, 0.1); + joint = joint.motor_velocity(-20.0, 100.0); } else if i == num - 1 { - let stiffness = 0.2; - let damping = 1.0; + let stiffness = 200.0; + let damping = 100.0; joint = joint.motor_position(3.14 / 2.0, stiffness, damping); } if i == 1 { joint = joint .local_anchor2(point![0.0, 2.0, -shift]) - .motor_velocity(-2.0, 0.1); + .motor_velocity(-2.0, 100.0); } if use_articulations { @@ -521,7 +477,7 @@ fn create_actuated_spherical_joints( let shift = 2.0; // We will reuse this base configuration for all the impulse_joints here. - let joint_template = SphericalJoint::new().local_anchor1(point![0.0, 0.0, shift]); + let joint_template = SphericalJointBuilder::new().local_anchor1(point![0.0, 0.0, shift]); let mut parent_handle = RigidBodyHandle::invalid(); @@ -540,10 +496,10 @@ fn create_actuated_spherical_joints( let rigid_body = RigidBodyBuilder::new(status) .translation(vector![origin.x, origin.y, origin.z + fi * shift]) // .rotation(Vector3::new(0.0, fi * 1.1, 0.0)) - .build(); + ; let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad).build(); + let collider = ColliderBuilder::capsule_y(rad * 2.0 / (fi + 1.0), rad); colliders.insert_with_parent(collider, child_handle, bodies); if i > 0 { diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs index 2e00b86..c1ade84 100644 --- a/examples3d/ccd3.rs +++ b/examples3d/ccd3.rs @@ -21,12 +21,9 @@ fn create_wall( - stack_height as f32 * half_extents.z; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); - let collider = - ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); + let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z); colliders.insert_with_parent(collider, handle, bodies); k += 1; if k % 2 == 0 { @@ -53,11 +50,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let ground_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, ground_handle, &mut bodies); /* @@ -97,23 +92,20 @@ pub fn init_world(testbed: &mut Testbed) { let collider = ColliderBuilder::ball(1.0) .density(10.0) .sensor(true) - .active_events(ActiveEvents::INTERSECTION_EVENTS) - .build(); + .active_events(ActiveEvents::INTERSECTION_EVENTS); let rigid_body = RigidBodyBuilder::new_dynamic() .linvel(vector![1000.0, 0.0, 0.0]) .translation(vector![-20.0, shift_y + 2.0, 0.0]) - .ccd_enabled(true) - .build(); + .ccd_enabled(true); let sensor_handle = bodies.insert(rigid_body); colliders.insert_with_parent(collider, sensor_handle, &mut bodies); // Second rigid-body with CCD enabled. - let collider = ColliderBuilder::ball(1.0).density(10.0).build(); + let collider = ColliderBuilder::ball(1.0).density(10.0); let rigid_body = RigidBodyBuilder::new_dynamic() .linvel(vector![1000.0, 0.0, 0.0]) .translation(vector![-20.0, shift_y + 2.0, shift_z]) - .ccd_enabled(true) - .build(); + .ccd_enabled(true); let handle = bodies.insert(rigid_body); colliders.insert_with_parent(collider.clone(), handle, &mut bodies); testbed.set_initial_body_color(handle, [0.2, 0.2, 1.0]); diff --git a/examples3d/collision_groups3.rs b/examples3d/collision_groups3.rs index d43a7fc..c1bc144 100644 --- a/examples3d/collision_groups3.rs +++ b/examples3d/collision_groups3.rs @@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 5.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let floor_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, floor_handle, &mut bodies); /* @@ -34,8 +32,7 @@ pub fn init_world(testbed: &mut Testbed) { */ let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0) .translation(vector![0.0, 1.0, 0.0]) - .collision_groups(GREEN_GROUP) - .build(); + .collision_groups(GREEN_GROUP); let green_collider_handle = colliders.insert_with_parent(green_floor, floor_handle, &mut bodies); @@ -46,8 +43,7 @@ pub fn init_world(testbed: &mut Testbed) { */ let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0) .translation(vector![0.0, 2.0, 0.0]) - .collision_groups(BLUE_GROUP) - .build(); + .collision_groups(BLUE_GROUP); let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies); testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]); @@ -77,13 +73,9 @@ pub fn init_world(testbed: &mut Testbed) { (BLUE_GROUP, [0.0, 0.0, 1.0]) }; - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad) - .collision_groups(group) - .build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad).collision_groups(group); colliders.insert_with_parent(collider, handle, &mut bodies); testbed.set_initial_body_color(handle, color); diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs index 433210d..5ecccb9 100644 --- a/examples3d/compound3.rs +++ b/examples3d/compound3.rs @@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); /* @@ -45,20 +43,16 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shift * 2.0 - centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); // First option: attach several colliders to a single rigid-body. if j < numy / 2 { - let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build(); + let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad); let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad) - .translation(vector![rad * 10.0, rad * 10.0, 0.0]) - .build(); + .translation(vector![rad * 10.0, rad * 10.0, 0.0]); let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad) - .translation(vector![-rad * 10.0, rad * 10.0, 0.0]) - .build(); + .translation(vector![-rad * 10.0, rad * 10.0, 0.0]); colliders.insert_with_parent(collider1, handle, &mut bodies); colliders.insert_with_parent(collider2, handle, &mut bodies); colliders.insert_with_parent(collider3, handle, &mut bodies); @@ -79,7 +73,7 @@ pub fn init_world(testbed: &mut Testbed) { ), ]; - let collider = ColliderBuilder::compound(shapes).build(); + let collider = ColliderBuilder::compound(shapes); colliders.insert_with_parent(collider, handle, &mut bodies); } } diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs index 6daf4d7..33c1611 100644 --- a/examples3d/convex_decomposition3.rs +++ b/examples3d/convex_decomposition3.rs @@ -24,11 +24,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); /* @@ -88,13 +86,11 @@ pub fn init_world(testbed: &mut Testbed) { let y = (igeom / width) as f32 * shift + 4.0; let z = k as f32 * shift; - let body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(body); for shape in &shapes { - let collider = ColliderBuilder::new(shape.clone()).build(); + let collider = ColliderBuilder::new(shape.clone()); colliders.insert_with_parent(collider, handle, &mut bodies); } } diff --git a/examples3d/convex_polyhedron3.rs b/examples3d/convex_polyhedron3.rs index 7abcefb..b4c391e 100644 --- a/examples3d/convex_polyhedron3.rs +++ b/examples3d/convex_polyhedron3.rs @@ -18,11 +18,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 40.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); /* @@ -54,13 +52,9 @@ pub fn init_world(testbed: &mut Testbed) { } // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::round_convex_hull(&points, border_rad) - .unwrap() - .build(); + let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap(); colliders.insert_with_parent(collider, handle, &mut bodies); } } diff --git a/examples3d/damping3.rs b/examples3d/damping3.rs index 6f2edb9..d189482 100644 --- a/examples3d/damping3.rs +++ b/examples3d/damping3.rs @@ -27,12 +27,11 @@ pub fn init_world(testbed: &mut Testbed) { .linvel(vector![x * 10.0, y * 10.0, 0.0]) .angvel(Vector::z() * 100.0) .linear_damping((i + 1) as f32 * subdiv * 10.0) - .angular_damping((num - i) as f32 * subdiv * 10.0) - .build(); + .angular_damping((num - i) as f32 * subdiv * 10.0); let rb_handle = bodies.insert(rb); // Build the collider. - let co = ColliderBuilder::cuboid(rad, rad, rad).build(); + let co = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(co, rb_handle, &mut bodies); } diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs index dd680d5..e6d8ac6 100644 --- a/examples3d/debug_add_remove_collider3.rs +++ b/examples3d/debug_add_remove_collider3.rs @@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 3.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let ground_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4); let mut ground_collider_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies); @@ -28,11 +26,9 @@ pub fn init_world(testbed: &mut Testbed) { * Rolling ball */ let ball_rad = 0.1; - let rb = RigidBodyBuilder::new_dynamic() - .translation(vector![0.0, 0.2, 0.0]) - .build(); + let rb = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 0.2, 0.0]); let ball_handle = bodies.insert(rb); - let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); + let collider = ColliderBuilder::ball(ball_rad).density(100.0); colliders.insert_with_parent(collider, ball_handle, &mut bodies); testbed.add_callback(move |_, physics, _, _| { diff --git a/examples3d/debug_articulations3.rs b/examples3d/debug_articulations3.rs index 3b75a21..0dbc66a 100644 --- a/examples3d/debug_articulations3.rs +++ b/examples3d/debug_articulations3.rs @@ -25,17 +25,20 @@ fn create_ball_articulations( RigidBodyType::Dynamic }; - let rigid_body = RigidBodyBuilder::new(status) - .translation(vector![fk * shift, 0.0, fi * shift * 2.0]) - .build(); + let rigid_body = RigidBodyBuilder::new(status).translation(vector![ + fk * shift, + 0.0, + fi * shift * 2.0 + ]); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build(); + let collider = ColliderBuilder::capsule_z(rad * 1.25, rad); colliders.insert_with_parent(collider, child_handle, bodies); // Vertical multibody_joint. if i > 0 { let parent_handle = *body_handles.last().unwrap(); - let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]); + let joint = + SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]); multibody_joints.insert(parent_handle, child_handle, joint); } @@ -43,7 +46,7 @@ fn create_ball_articulations( if k > 0 && i > 0 { let parent_index = body_handles.len() - num; let parent_handle = body_handles[parent_index]; - let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]); + let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]); // let joint = // PrismaticJoint::new(Vector::y_axis()).local_anchor2(point![-shift, 0.0, 0.0]); // let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]); @@ -68,15 +71,13 @@ pub fn init_world(testbed: &mut Testbed) { let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) .translation(vector![0.0, -3.02, 0.0]) - .rotation(vector![0.1, 0.0, 0.1]) - .build(); + .rotation(vector![0.1, 0.0, 0.1]); colliders.insert(collider); - let rigid_body = RigidBodyBuilder::new_dynamic().build(); + let rigid_body = RigidBodyBuilder::new_dynamic(); let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) .translation(vector![0.0, -3.0, 0.0]) - .rotation(vector![0.1, 0.0, 0.1]) - .build(); + .rotation(vector![0.1, 0.0, 0.1]); let handle = bodies.insert(rigid_body); colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs index 33460dc..d221a05 100644 --- a/examples3d/debug_big_colliders3.rs +++ b/examples3d/debug_big_colliders3.rs @@ -13,10 +13,10 @@ pub fn init_world(testbed: &mut Testbed) { /* * Ground */ - let rigid_body = RigidBodyBuilder::new_static().build(); + let rigid_body = RigidBodyBuilder::new_static(); let handle = bodies.insert(rigid_body); let halfspace = SharedShape::new(HalfSpace::new(Vector::y_axis())); - let collider = ColliderBuilder::new(halfspace).build(); + let collider = ColliderBuilder::new(halfspace); colliders.insert_with_parent(collider, handle, &mut bodies); let mut curr_y = 0.0; @@ -26,11 +26,9 @@ pub fn init_world(testbed: &mut Testbed) { let curr_height = 0.1f32.min(curr_width); curr_y += curr_height * 4.0; - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![0.0, curr_y, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, curr_y, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build(); + let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width); colliders.insert_with_parent(collider, handle, &mut bodies); curr_width /= 5.0; diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs index ddf86db..908985b 100644 --- a/examples3d/debug_boxes3.rs +++ b/examples3d/debug_boxes3.rs @@ -17,11 +17,10 @@ pub fn init_world(testbed: &mut Testbed) { let ground_height = 0.1; for _ in 0..6 { - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = + RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); } @@ -30,10 +29,9 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic() .translation(vector![1.1, 0.0, 0.0]) // .rotation(vector![0.8, 0.2, 0.1]) - .can_sleep(false) - .build(); + .can_sleep(false); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build(); + let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0); colliders.insert_with_parent(collider, handle, &mut bodies); } diff --git a/examples3d/debug_cylinder3.rs b/examples3d/debug_cylinder3.rs index cb087be..b62fb12 100644 --- a/examples3d/debug_cylinder3.rs +++ b/examples3d/debug_cylinder3.rs @@ -19,11 +19,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 100.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); /* @@ -46,11 +44,9 @@ pub fn init_world(testbed: &mut Testbed) { let z = -centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cylinder(rad, rad).build(); + let collider = ColliderBuilder::cylinder(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); /* diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs index 27e1b0b..9404a61 100644 --- a/examples3d/debug_dynamic_collider_add3.rs +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -16,14 +16,12 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 20.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4) .friction(0.15) // .restitution(0.5) - .build(); + ; colliders.insert_with_parent(collider, ground_handle, &mut bodies); /* @@ -32,10 +30,9 @@ pub fn init_world(testbed: &mut Testbed) { let ball_rad = 0.1; let rb = RigidBodyBuilder::new_dynamic() .translation(vector![0.0, 0.2, 0.0]) - .linvel(vector![10.0, 0.0, 0.0]) - .build(); + .linvel(vector![10.0, 0.0, 0.0]); let ball_handle = bodies.insert(rb); - let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); + let collider = ColliderBuilder::ball(ball_rad).density(100.0); colliders.insert_with_parent(collider, ball_handle, &mut bodies); let mut linvel = Vector::zeros(); @@ -49,9 +46,7 @@ pub fn init_world(testbed: &mut Testbed) { step += 1; // Add a bigger ball collider - let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)) - .density(100.0) - .build(); + let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)).density(100.0); let new_ball_collider_handle = physics .colliders @@ -99,8 +94,7 @@ pub fn init_world(testbed: &mut Testbed) { // .remove(ground_collider_handle, &mut physics.bodies, true) // .unwrap(); let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) - .friction(0.15) - .build(); + .friction(0.15); let new_ground_collider_handle = physics .colliders diff --git a/examples3d/debug_friction3.rs b/examples3d/debug_friction3.rs index 44c9fae..b48364d 100644 --- a/examples3d/debug_friction3.rs +++ b/examples3d/debug_friction3.rs @@ -16,20 +16,17 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 100.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static().build(); + let rigid_body = RigidBodyBuilder::new_static(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size) - .friction(1.5) - .build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).friction(1.5); colliders.insert_with_parent(collider, handle, &mut bodies); // Build a dynamic box rigid body. let rigid_body = RigidBodyBuilder::new_dynamic() .translation(vector![0.0, 1.1, 0.0]) - .rotation(Vector::y() * 0.3) - .build(); + .rotation(Vector::y() * 0.3); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5).build(); + let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5); colliders.insert_with_parent(collider, handle, &mut bodies); let rigid_body = &mut bodies[handle]; diff --git a/examples3d/debug_infinite_fall3.rs b/examples3d/debug_infinite_fall3.rs index 4d950cf..7d03734 100644 --- a/examples3d/debug_infinite_fall3.rs +++ b/examples3d/debug_infinite_fall3.rs @@ -16,29 +16,25 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 100.1; let ground_height = 2.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, 4.0, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 4.0, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); let rad = 1.0; // Build the dynamic box rigid body. let rigid_body = RigidBodyBuilder::new_dynamic() .translation(vector![0.0, 7.0 * rad, 0.0]) - .can_sleep(false) - .build(); + .can_sleep(false); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).build(); + let collider = ColliderBuilder::ball(rad); colliders.insert_with_parent(collider, handle, &mut bodies); let rigid_body = RigidBodyBuilder::new_dynamic() .translation(vector![0.0, 2.0 * rad, 0.0]) - .can_sleep(false) - .build(); + .can_sleep(false); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::ball(rad).build(); + let collider = ColliderBuilder::ball(rad); colliders.insert_with_parent(collider, handle, &mut bodies); /* diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs index 15176f3..9f93237 100644 --- a/examples3d/debug_prismatic3.rs +++ b/examples3d/debug_prismatic3.rs @@ -7,16 +7,12 @@ fn prismatic_repro( impulse_joints: &mut ImpulseJointSet, box_center: Point, ) { - let box_rb = bodies.insert( - RigidBodyBuilder::new_dynamic() - .translation(vector![box_center.x, box_center.y, box_center.z]) - .build(), - ); - colliders.insert_with_parent( - ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(), - box_rb, - bodies, - ); + let box_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![ + box_center.x, + box_center.y, + box_center.z + ])); + colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 0.25, 1.0), box_rb, bodies); let wheel_y = -1.0; let wheel_positions = vec![ @@ -28,36 +24,28 @@ fn prismatic_repro( for pos in wheel_positions { let wheel_pos_in_world = box_center + pos; - let wheel_rb = bodies.insert( - RigidBodyBuilder::new_dynamic() - .translation(vector![ - wheel_pos_in_world.x, - wheel_pos_in_world.y, - wheel_pos_in_world.z - ]) - .build(), - ); - colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies); + let wheel_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![ + wheel_pos_in_world.x, + wheel_pos_in_world.y, + wheel_pos_in_world.z + ])); + colliders.insert_with_parent(ColliderBuilder::ball(0.5), wheel_rb, bodies); let (stiffness, damping) = (0.05, 0.2); - let prismatic = PrismaticJoint::new(Vector::y_axis()) + let prismatic = PrismaticJointBuilder::new(Vector::y_axis()) .local_anchor1(point![pos.x, pos.y, pos.z]) .motor_position(0.0, stiffness, damping); impulse_joints.insert(box_rb, wheel_rb, prismatic); } // put a small box under one of the wheels - let gravel = bodies.insert( - RigidBodyBuilder::new_dynamic() - .translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0]) - .build(), - ); - colliders.insert_with_parent( - ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(), - gravel, - bodies, - ); + let gravel = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![ + box_center.x + 1.0, + box_center.y - 2.4, + -1.0 + ])); + colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.1, 0.5), gravel, bodies); } pub fn init_world(testbed: &mut Testbed) { @@ -75,11 +63,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 50.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); prismatic_repro( diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs index b795434..b40384c 100644 --- a/examples3d/debug_rollback3.rs +++ b/examples3d/debug_rollback3.rs @@ -16,14 +16,12 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 20.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4) .friction(0.15) // .restitution(0.5) - .build(); + ; colliders.insert_with_parent(collider, ground_handle, &mut bodies); /* @@ -32,10 +30,9 @@ pub fn init_world(testbed: &mut Testbed) { let ball_rad = 0.1; let rb = RigidBodyBuilder::new_dynamic() .translation(vector![0.0, 0.2, 0.0]) - .linvel(vector![10.0, 0.0, 0.0]) - .build(); + .linvel(vector![10.0, 0.0, 0.0]); let ball_handle = bodies.insert(rb); - let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); + let collider = ColliderBuilder::ball(ball_rad).density(100.0); colliders.insert_with_parent(collider, ball_handle, &mut bodies); let mut linvel = Vector::zeros(); diff --git a/examples3d/debug_shape_modification3.rs b/examples3d/debug_shape_modification3.rs index eb2966e..5557131 100644 --- a/examples3d/debug_shape_modification3.rs +++ b/examples3d/debug_shape_modification3.rs @@ -16,14 +16,12 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 20.0; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size) .friction(0.15) // .restitution(0.5) - .build(); + ; colliders.insert_with_parent(collider, ground_handle, &mut bodies); /* @@ -32,10 +30,9 @@ pub fn init_world(testbed: &mut Testbed) { let ball_rad = 0.1; let rb = RigidBodyBuilder::new_dynamic() .translation(vector![0.0, 0.2, 0.0]) - .linvel(vector![10.0, 0.0, 0.0]) - .build(); + .linvel(vector![10.0, 0.0, 0.0]); let ball_handle = bodies.insert(rb); - let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); + let collider = ColliderBuilder::ball(ball_rad).density(100.0); let ball_coll_handle = colliders.insert_with_parent(collider, ball_handle, &mut bodies); let mut linvel = Vector::zeros(); @@ -90,19 +87,17 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shiftz - centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = match j % 5 { - 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), - 1 => ColliderBuilder::ball(rad).build(), + 0 => ColliderBuilder::cuboid(rad, rad, rad), + 1 => ColliderBuilder::ball(rad), // 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(), - 3 => ColliderBuilder::cone(rad, rad).build(), - _ => ColliderBuilder::capsule_y(rad, rad).build(), + 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0), + 3 => ColliderBuilder::cone(rad, rad), + _ => ColliderBuilder::capsule_y(rad, rad), }; colliders.insert_with_parent(collider, handle, &mut bodies); diff --git a/examples3d/debug_triangle3.rs b/examples3d/debug_triangle3.rs index 8151cf9..e84331a 100644 --- a/examples3d/debug_triangle3.rs +++ b/examples3d/debug_triangle3.rs @@ -17,21 +17,18 @@ pub fn init_world(testbed: &mut Testbed) { point![0.0, 0.0, 10.0], ]; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, 0.0, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]).build(); + let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]); colliders.insert_with_parent(collider, handle, &mut bodies); // Dynamic box rigid body. let rigid_body = RigidBodyBuilder::new_dynamic() .translation(vector![1.1, 0.01, 0.0]) // .rotation(Vector3::new(0.8, 0.2, 0.1)) - .can_sleep(false) - .build(); + .can_sleep(false); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).build(); + let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0); colliders.insert_with_parent(collider, handle, &mut bodies); /* diff --git a/examples3d/debug_trimesh3.rs b/examples3d/debug_trimesh3.rs index 8e38719..f7fa651 100644 --- a/examples3d/debug_trimesh3.rs +++ b/examples3d/debug_trimesh3.rs @@ -41,17 +41,14 @@ pub fn init_world(testbed: &mut Testbed) { let rigid_body = RigidBodyBuilder::new_dynamic() .translation(vector![0.0, 35.0, 0.0]) // .rotation(Vector3::new(0.8, 0.2, 0.1)) - .can_sleep(false) - .build(); + .can_sleep(false); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0).build(); + let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0); colliders.insert_with_parent(collider, handle, &mut bodies); - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, 0.0, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, 0.0, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::trimesh(vtx, idx).build(); + let collider = ColliderBuilder::trimesh(vtx, idx); colliders.insert_with_parent(collider, handle, &mut bodies); testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]); diff --git a/examples3d/domino3.rs b/examples3d/domino3.rs index 067a86d..f57e2c5 100644 --- a/examples3d/domino3.rs +++ b/examples3d/domino3.rs @@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 200.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); /* @@ -55,9 +53,9 @@ pub fn init_world(testbed: &mut Testbed) { Translation::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad) * tilt * rot; - let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build(); + let rigid_body = RigidBodyBuilder::new_dynamic().position(position); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width).build(); + let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width); colliders.insert_with_parent(collider, handle, &mut bodies); testbed.set_initial_body_color(handle, colors[i % 2]); } else { diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs index 4e47878..31ff15b 100644 --- a/examples3d/fountain3.rs +++ b/examples3d/fountain3.rs @@ -17,23 +17,19 @@ pub fn init_world(testbed: &mut Testbed) { let ground_size = 100.1; let ground_height = 2.1; // 16.0; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); // Callback that will be executed on the main loop to handle proximities. testbed.add_callback(move |mut graphics, physics, _, run_state| { - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![0.0, 10.0, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![0.0, 10.0, 0.0]); let handle = physics.bodies.insert(rigid_body); let collider = match run_state.timestep_id % 3 { - 0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(), - 1 => ColliderBuilder::cone(rad, rad).build(), - _ => ColliderBuilder::cuboid(rad, rad, rad).build(), + 0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0), + 1 => ColliderBuilder::cone(rad, rad), + _ => ColliderBuilder::cuboid(rad, rad, rad), }; physics diff --git a/examples3d/harness_capsules3.rs b/examples3d/harness_capsules3.rs index dae364a..30849d3 100644 --- a/examples3d/harness_capsules3.rs +++ b/examples3d/harness_capsules3.rs @@ -16,11 +16,9 @@ pub fn init_world(harness: &mut Harness) { let ground_size = 200.1; let ground_height = 0.1; - let rigid_body = RigidBodyBuilder::new_static() - .translation(vector![0.0, -ground_height, 0.0]) - .build(); + let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); /* @@ -45,11 +43,9 @@ pub fn init_world(harness: &mut Harness) { let z = k as f32 * shift - centerz + offset; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_y(rad, rad).build(); + let collider = ColliderBuilder::capsule_y(rad, rad); colliders.insert_with_parent(collider, handle, &mut bodies); } } diff --git a/examples3d/heightfield3.rs b/examples3d/heightfield3.rs index f5a3ba6..e144442 100644 --- a/examples3d/heightfield3.rs +++ b/examples3d/heightfield3.rs @@ -31,9 +31,9 @@ pub fn init_world(testbed: &mut Testbed) { } }); - let rigid_body = RigidBodyBuilder::new_static().build(); + let rigid_body = RigidBodyBuilder::new_static(); let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::heightfield(heights, ground_size).build(); + let collider = ColliderBuilder::heightfield(heights, ground_size); colliders.insert_with_parent(collider, handle, &mut bodies); /* @@ -55,19 +55,17 @@ pub fn init_world(testbed: &mut Testbed) { let z = k as f32 * shift - centerz; // Build the rigid body. - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![x, y, z]) - .build(); + let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]); let handle = bodies.insert(rigid_body); let collider = match j % 6 { - 0 => ColliderBuilder::cuboid(rad, rad, rad).build(), - 1 => ColliderBuilder::ball(rad).build(), + 0 => ColliderBuilder::cuboid(rad, rad, rad), + 1 => ColliderBuilder::ball(rad), // 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(), - 3 => ColliderBuilder::cone(rad, rad).build(), - 4 => ColliderBuilder::capsule_y(rad, rad).build(), + 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0), + 3 => ColliderBuilder::cone(rad, rad), + 4 => ColliderBuilder::capsule_y(rad, rad), _ => { let shapes = vec![ ( @@ -84,7 +82,7 @@ pub fn init_world(testbed: &mut Testbed) { ), ]; - ColliderBuilder::compound(shapes).build() + ColliderBuilder::compound(shapes) } }; diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs index 02aa5f9..8b2c258 100644 --- a/examples3d/joints3.rs +++ b/examples3d/joints3.rs @@ -11,20 +11,17 @@ fn create_prismatic_joints( let rad = 0.4; let shift = 2.0; - let ground = RigidBodyBuilder::new_static() - .translation(vector![origin.x, origin.y, origin.z]) - .build(); + let ground = RigidBodyBuilder::new_static().translation(vector![origin.x, origin.y, origin.z]); let mut curr_parent = bodies.insert(ground); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); + let collider = ColliderBuilder::cuboid(rad, rad, rad); colliders.insert_with_parent(collider, curr_parent, bodies); for i in 0..num { let z = origin.z + (i + 1) as f32 * shift; - let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(vector![origin.x, origin.y, z]) - .build(); + let rigid_body = + RigidBodyBuilder::new_dynamic().translation(vector![origin.x, origin.y, z]); let curr_child = bodies.insert(rigid_body); - let collider = Co