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Configure additional mass
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@kvark
kvark committed Jan 9, 2024
1 parent d70562b commit 3d843fd
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Showing 2 changed files with 75 additions and 21 deletions.
10 changes: 9 additions & 1 deletion src/config.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ fn default_restitution() -> f32 {

#[derive(serde::Deserialize)]
pub struct Collider {
pub mass: f32,
pub density: f32,
pub shape: Shape,
#[serde(default = "default_friction")]
pub friction: f32,
Expand All @@ -87,11 +87,19 @@ pub struct Collider {
pub rot: mint::Vector3<f32>,
}

#[derive(serde::Deserialize)]
pub struct AdditionalMass {
pub density: f32,
pub shape: Shape,
}

#[derive(serde::Deserialize)]
pub struct Object {
pub name: String,
pub visuals: Vec<Visual>,
pub colliders: Vec<Collider>,
#[serde(default)]
pub additional_mass: Option<AdditionalMass>,
}

fn default_time_step() -> f32 {
Expand Down
86 changes: 66 additions & 20 deletions src/lib.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -164,7 +164,7 @@ struct Object {
name: String,
rigid_body: rapier3d::dynamics::RigidBodyHandle,
prev_isometry: nalgebra::Isometry3<f32>,
_colliders: Vec<rapier3d::geometry::ColliderHandle>,
colliders: Vec<rapier3d::geometry::ColliderHandle>,
visuals: Vec<Visual>,
}

Expand Down Expand Up @@ -488,7 +488,7 @@ impl Engine {
pos: position
.transform_point(&nalgebra::Point3::new(length, 0.0, 0.0))
.into(),
color: 0xFF0000,
color: 0x0000FF,
},
});
debug_lines.push(blade_render::DebugLine {
Expand All @@ -506,7 +506,7 @@ impl Engine {
pos: position
.transform_point(&nalgebra::Point3::new(0.0, 0.0, length))
.into(),
color: 0x0000FF,
color: 0xFF0000,
},
});
}
Expand Down Expand Up @@ -593,7 +593,7 @@ impl Engine {

if let Some(handle) = self.selected_object_handle {
let object = &self.objects[handle.0];
let rigid_body = &self.physics.rigid_bodies[object.rigid_body];
let rigid_body = &mut self.physics.rigid_bodies[object.rigid_body];
if ui.button("Unselect").clicked() {
self.selected_object_handle = None;
self.selected_collider = None;
Expand All @@ -608,13 +608,17 @@ impl Engine {
ui.horizontal(|ui| {
ui.label(format!("Linear velocity:"));
ui.value_vec3(&rigid_body.linvel());
ui.label(format!("Damping:"));
});
ui.horizontal(|ui| {
ui.label(format!("Linear Damping:"));
ui.value(rigid_body.linear_damping());
});
ui.horizontal(|ui| {
ui.label(format!("Angular velocity:"));
ui.value_vec3(&rigid_body.angvel());
ui.label(format!("Damping:"));
});
ui.horizontal(|ui| {
ui.label(format!("Angular Damping:"));
ui.value(rigid_body.angular_damping());
});
ui.horizontal(|ui| {
Expand All @@ -623,32 +627,38 @@ impl Engine {
});
});
ui.heading("Colliders");
for &collider in rigid_body.colliders() {
let name = "collider";
ui.selectable_value(&mut self.selected_collider, Some(collider), name);
for &collider_handle in rigid_body.colliders() {
let collider = &self.physics.colliders[collider_handle];
let name = format!("{:?}", collider.shape().shape_type());
ui.selectable_value(
&mut self.selected_collider,
Some(collider_handle),
name,
);
}
}

if let Some(collider_handle) = self.selected_collider {
ui.heading("Properties");
let collider = self.physics.colliders.get_mut(collider_handle).unwrap();
let mut mass = collider.mass();
let mut density = collider.density();
if ui
.add(
egui::DragValue::new(&mut mass)
.prefix("Mass: ")
.clamp_range(0.0..=1e6),
egui::DragValue::new(&mut density)
.prefix("Density: ")
.clamp_range(0.1..=1e6),
)
.changed()
{
collider.set_mass(mass);
collider.set_density(density);
}
let mut friction = collider.friction();
if ui
.add(
egui::DragValue::new(&mut friction)
.prefix("Friction: ")
.clamp_range(0.0..=2.0),
.clamp_range(0.0..=5.0)
.speed(0.01),
)
.changed()
{
Expand All @@ -659,7 +669,8 @@ impl Engine {
.add(
egui::DragValue::new(&mut restitution)
.prefix("Restituion: ")
.clamp_range(0.0..=1.0),
.clamp_range(0.0..=1.0)
.speed(0.01),
)
.changed()
{
Expand All @@ -680,6 +691,11 @@ impl Engine {
isometry: nalgebra::Isometry3<f32>,
body_type: BodyType,
) -> ObjectHandle {
use rapier3d::{
dynamics::MassProperties,
geometry::{ColliderBuilder, TriMeshFlags}
};

let mut visuals = Vec::new();
for visual in config.visuals.iter() {
let (model, task) = self.asset_hub.models.load(
Expand All @@ -703,15 +719,32 @@ impl Engine {
self.load_tasks.push(task.clone());
}

let add_mass_properties = match config.additional_mass {
Some(ref am) => match am.shape {
config::Shape::Ball { radius } => MassProperties::from_ball(am.density, radius),
config::Shape::Cylinder {
half_height,
radius,
} => MassProperties::from_cylinder(am.density, half_height, radius),
config::Shape::Cuboid { half } => MassProperties::from_cuboid(am.density, half.into()),
config::Shape::ConvexHull {
..
} |
config::Shape::TriMesh {
..
} => unimplemented!(),
},
None => Default::default(),
};

let rigid_body = rapier3d::dynamics::RigidBodyBuilder::new(body_type)
.position(isometry)
.additional_mass_properties(add_mass_properties)
.build();
let rb_handle = self.physics.rigid_bodies.insert(rigid_body);

let mut colliders = Vec::new();
for cc in config.colliders.iter() {
use rapier3d::geometry::{ColliderBuilder, TriMeshFlags};

let isometry = nalgebra::geometry::Isometry3::from_parts(
nalgebra::Vector3::from(cc.pos).into(),
make_quaternion(cc.rot),
Expand Down Expand Up @@ -766,7 +799,7 @@ impl Engine {
}
};
let collider = builder
.mass(cc.mass)
.density(cc.density)
.friction(cc.friction)
.restitution(cc.restitution)
.position(isometry)
Expand All @@ -783,7 +816,7 @@ impl Engine {
name: config.name.clone(),
rigid_body: rb_handle,
prev_isometry: nalgebra::Isometry3::default(),
_colliders: colliders,
colliders,
visuals,
});
ObjectHandle(raw_handle)
Expand Down Expand Up @@ -823,6 +856,19 @@ impl Engine {
body.predict_position_using_velocity_and_forces(self.time_ahead)
}

pub fn get_object_bounds(&self, handle: ObjectHandle) -> rapier3d::geometry::Aabb {
let object = &self.objects[handle.0];
let mut aabb = rapier3d::geometry::Aabb::new_invalid();
for &collider_handle in object.colliders.iter() {
let collider = &self.physics.colliders[collider_handle];
//TODO: use `merge` - https://github.com/dimforge/rapier/issues/574
for point in collider.compute_aabb().vertices() {
aabb.take_point(point);
}
}
aabb
}

/// Returns the position of the object within the "time_step" of precision.
/// Faster than the main `get_object_isometry`.
pub fn get_object_isometry_approx(&self, handle: ObjectHandle) -> &nalgebra::Isometry3<f32> {
Expand Down

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