From df2156ffd02ea1b8c86e86f1d68c5e4e915e6d98 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Mon, 31 Aug 2020 17:58:14 +0200 Subject: Allow the removal of a collider. --- examples3d/compound3.rs | 68 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 68 insertions(+) create mode 100644 examples3d/compound3.rs (limited to 'examples3d') diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs new file mode 100644 index 0000000..eb8a472 --- /dev/null +++ b/examples3d/compound3.rs @@ -0,0 +1,68 @@ +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 = 200.1; + 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 = 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 mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; + + for j in 0usize..47 { + 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; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + colliders.insert(collider, handle, &mut bodies); + } + } + + offset -= 0.05 * rad * (num as f32 - 1.0); + } + + /* + * 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() +} -- cgit From ce26fe107727ee4ef25ee728b3bb3a40914fdc99 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Mon, 31 Aug 2020 19:03:56 +0200 Subject: Add compound demo. --- examples3d/all_examples3.rs | 2 ++ examples3d/compound3.rs | 14 ++++++++++---- 2 files changed, 12 insertions(+), 4 deletions(-) (limited to 'examples3d') diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 04b9b36..2b89efa 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -14,6 +14,7 @@ mod add_remove3; mod balls3; mod boxes3; mod capsules3; +mod compound3; mod debug_boxes3; mod debug_triangle3; mod domino3; @@ -71,6 +72,7 @@ pub fn main() { ("Balls", balls3::init_world), ("Boxes", boxes3::init_world), ("Capsules", capsules3::init_world), + ("Compound", compound3::init_world), ("Domino", domino3::init_world), ("Heightfield", heightfield3::init_world), ("Joints", joints3::init_world), diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs index eb8a472..1c594c6 100644 --- a/examples3d/compound3.rs +++ b/examples3d/compound3.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; @@ -41,14 +41,20 @@ pub fn init_world(testbed: &mut Testbed) { 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 y = j as f32 * (shift * 2.0) + centery + 3.0; let z = k as f32 * shift - 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::cuboid(rad, rad, rad).density(1.0).build(); - colliders.insert(collider, handle, &mut bodies); + let collider1 = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); + let collider2 = ColliderBuilder::cuboid(rad, rad, rad) + .translation(0.0, -rad * 3.0, 0.0) + .rotation(Vector3::x() * 0.5) + .density(1.0) + .build(); + colliders.insert(collider1, handle, &mut bodies); + colliders.insert(collider2, handle, &mut bodies); } } -- cgit From 03b437f278bbcbd391acd23a4d8fa074915eb00c Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Mon, 31 Aug 2020 19:04:32 +0200 Subject: Disallow contacts between two colliders attached to the same parent. --- 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 3176696..8091db8 100644 --- a/examples3d/Cargo.toml +++ b/examples3d/Cargo.toml @@ -24,4 +24,4 @@ path = "../build/rapier3d" [[bin]] name = "all_examples3" -path = "./all_examples3.rs" \ No newline at end of file +path = "./all_examples3.rs" -- cgit From fc0b3bf39484029d956055943b38bb55ab2c5791 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Tue, 1 Sep 2020 17:35:32 +0200 Subject: Mass properties: add a max number of iterations for the local-frame rotation computation. --- examples3d/compound3.rs | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) (limited to 'examples3d') diff --git a/examples3d/compound3.rs b/examples3d/compound3.rs index 1c594c6..a8a9939 100644 --- a/examples3d/compound3.rs +++ b/examples3d/compound3.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; @@ -28,33 +28,35 @@ pub fn init_world(testbed: &mut Testbed) { * Create the cubes */ let num = 8; - let rad = 1.0; + let rad = 0.2; - let shift = rad * 2.0 + rad; + let shift = rad * 4.0 + rad; let centerx = shift * (num / 2) as f32; let centery = shift / 2.0; let centerz = shift * (num / 2) as f32; let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5; - for j in 0usize..47 { + for j in 0usize..25 { for i in 0..num { for k in 0usize..num { - let x = i as f32 * shift - centerx + offset; - let y = j as f32 * (shift * 2.0) + centery + 3.0; - let z = k as f32 * shift - centerz + offset; + let x = i as f32 * shift * 5.0 - centerx + offset; + let y = j as f32 * (shift * 5.0) + centery + 3.0; + let z = k as f32 * shift * 2.0 - centerz + offset; // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); let handle = bodies.insert(rigid_body); - let collider1 = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build(); - let collider2 = ColliderBuilder::cuboid(rad, rad, rad) - .translation(0.0, -rad * 3.0, 0.0) - .rotation(Vector3::x() * 0.5) - .density(1.0) + let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build(); + let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad) + .translation(rad * 10.0, rad * 10.0, 0.0) + .build(); + let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad) + .translation(-rad * 10.0, rad * 10.0, 0.0) .build(); colliders.insert(collider1, handle, &mut bodies); colliders.insert(collider2, handle, &mut bodies); + colliders.insert(collider3, handle, &mut bodies); } } -- cgit From d2bc2779c9462ec94c1b55960bccb12e4f80d1c2 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Tue, 1 Sep 2020 17:55:14 +0200 Subject: CI: fix test execution. --- 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 8091db8..efc3cce 100644 --- a/examples3d/Cargo.toml +++ b/examples3d/Cargo.toml @@ -1,5 +1,5 @@ [package] -name = "nphysics-examples-3d" +name = "rapier-examples-3d" version = "0.1.0" authors = [ "Sébastien Crozet " ] edition = "2018" -- cgit