From fc8cb87041f1b2b5f1500a7e9c0ce62dde011918 Mon Sep 17 00:00:00 2001 From: Dzmitry Malyshau Date: Mon, 8 Jan 2024 21:23:09 -0800 Subject: [PATCH] Configure additional mass --- src/config.rs | 10 +++++- src/lib.rs | 85 +++++++++++++++++++++++++++++++++++++++------------ 2 files changed, 74 insertions(+), 21 deletions(-) diff --git a/src/config.rs b/src/config.rs index 2753b41d..dfab3c2e 100644 --- a/src/config.rs +++ b/src/config.rs @@ -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, @@ -87,11 +87,19 @@ pub struct Collider { pub rot: mint::Vector3, } +#[derive(serde::Deserialize)] +pub struct AdditionalMass { + pub density: f32, + pub shape: Shape, +} + #[derive(serde::Deserialize)] pub struct Object { pub name: String, pub visuals: Vec, pub colliders: Vec, + #[serde(default)] + pub additional_mass: Option, } fn default_time_step() -> f32 { diff --git a/src/lib.rs b/src/lib.rs index cf5c9d1d..9d7c5412 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -164,7 +164,7 @@ struct Object { name: String, rigid_body: rapier3d::dynamics::RigidBodyHandle, prev_isometry: nalgebra::Isometry3, - _colliders: Vec, + colliders: Vec, visuals: Vec, } @@ -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 { @@ -506,7 +506,7 @@ impl Engine { pos: position .transform_point(&nalgebra::Point3::new(0.0, 0.0, length)) .into(), - color: 0x0000FF, + color: 0xFF0000, }, }); } @@ -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; @@ -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| { @@ -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() { @@ -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() { @@ -680,6 +691,11 @@ impl Engine { isometry: nalgebra::Isometry3, 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( @@ -703,15 +719,31 @@ 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), @@ -766,7 +798,7 @@ impl Engine { } }; let collider = builder - .mass(cc.mass) + .density(cc.density) .friction(cc.friction) .restitution(cc.restitution) .position(isometry) @@ -783,7 +815,7 @@ impl Engine { name: config.name.clone(), rigid_body: rb_handle, prev_isometry: nalgebra::Isometry3::default(), - _colliders: colliders, + colliders, visuals, }); ObjectHandle(raw_handle) @@ -823,6 +855,19 @@ 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 {