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sebcrozetsebcrozet
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fix voxels demos
1 parent c428208 commit 9488c33

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8 files changed

+212
-273
lines changed

8 files changed

+212
-273
lines changed

‎examples2d/all_examples2.rs

+1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
11
#![allow(dead_code)]
2+
#![allow(clippy::type_complexity)]
23

34
#[cfg(target_arch = "wasm32")]
45
use wasm_bindgen::prelude::*;

‎examples2d/voxels2.rs

+44-115
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,6 @@
1-
use rapier2d::parry::bounding_volume;
21
use rapier2d::parry::transformation::voxelization::FillMode;
32
use rapier2d::prelude::*;
43
use rapier_testbed2d::Testbed;
5-
use std::fs::File;
6-
use std::io::BufReader;
74
use std::path::Path;
85

96
const VOXEL_SIZE: Real = 0.1; // 0.25;
@@ -18,13 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
1815
let geometry_mode = settings.get_or_set_string(
1916
"Voxels mode",
2017
0,
21-
vec!["PseudoBall".to_string(), "PseudoCube".to_string()],
18+
vec!["PseudoCube".to_string(), "PseudoBall".to_string()],
19+
);
20+
let falling_objects = settings.get_or_set_string(
21+
"Falling objects",
22+
3, // Defaults to Mixed.
23+
vec![
24+
"Ball".to_string(),
25+
"Cuboid".to_string(),
26+
"Capsule".to_string(),
27+
"Mixed".to_string(),
28+
],
2229
);
2330

2431
let primitive_geometry = if geometry_mode == 0 {
25-
VoxelPrimitiveGeometry::PseudoBall
26-
} else {
2732
VoxelPrimitiveGeometry::PseudoCube
33+
} else {
34+
VoxelPrimitiveGeometry::PseudoBall
2835
};
2936

3037
/*
@@ -36,79 +43,30 @@ pub fn init_world(testbed: &mut Testbed) {
3643
let multibody_joints = MultibodyJointSet::new();
3744

3845
/*
39-
* Create the convex decompositions.
46+
* Create dynamic objects to fall on voxels.
4047
*/
41-
// let geoms = models();
42-
// let ngeoms = geoms.len();
43-
// let width = (ngeoms as f32).sqrt() as usize;
44-
// let num_duplications = 1; // 4;
45-
// let shift = 7.0f32;
46-
//
47-
// for (igeom, obj_path) in geoms.into_iter().enumerate() {
48-
// let deltas = Isometry::identity();
49-
//
50-
// let mut shapes = Vec::new();
51-
// println!("Parsing and decomposing: {}", obj_path);
52-
//
53-
// let input = BufReader::new(File::open(obj_path).unwrap());
54-
//
55-
// if let Ok(model) = obj::raw::parse_obj(input) {
56-
// let mut vertices: Vec<_> = model
57-
// .positions
58-
// .iter()
59-
// .map(|v| point![v.0, v.1, v.2])
60-
// .collect();
61-
// let indices: Vec<_> = model
62-
// .polygons
63-
// .into_iter()
64-
// .flat_map(|p| match p {
65-
// Polygon::P(idx) => idx.into_iter(),
66-
// Polygon::PT(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
67-
// Polygon::PN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
68-
// Polygon::PTN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
69-
// })
70-
// .collect();
71-
//
72-
// // Compute the size of the model, to scale it and have similar size for everything.
73-
// let aabb = bounding_volume::details::point_cloud_aabb(&deltas, &vertices);
74-
// let center = aabb.center();
75-
// let diag = (aabb.maxs - aabb.mins).norm();
76-
//
77-
// vertices
78-
// .iter_mut()
79-
// .for_each(|p| *p = (*p - center.coords) * 6.0 / diag);
80-
//
81-
// let indices: Vec<_> = indices
82-
// .chunks(3)
83-
// .map(|idx| [idx[0] as u32, idx[1] as u32, idx[2] as u32])
84-
// .collect();
85-
//
86-
// let decomposed_shape =
87-
// SharedShape::voxelized_mesh(&vertices, &indices, VOXEL_SIZE, FillMode::default());
88-
// shapes.push(decomposed_shape);
89-
//
90-
// for k in 1..num_duplications + 1 {
91-
// let x = (igeom % width) as f32 * shift - 3.0;
92-
// let y = (igeom / width) as f32 * shift + 4.0;
93-
// let z = k as f32 * shift - 3.0;
94-
//
95-
// let body = RigidBodyBuilder::fixed().translation(vector![x, y, z]);
96-
// let handle = bodies.insert(body);
97-
//
98-
// for shape in &shapes {
99-
// let collider = ColliderBuilder::new(shape.clone());
100-
// colliders.insert_with_parent(collider, handle, &mut bodies);
101-
// }
102-
// }
103-
// }
104-
// }
105-
106-
for i in 0..30 {
107-
for j in 0..5 {
108-
let rb = RigidBodyBuilder::dynamic()
109-
.translation(vector![i as f32 * 2.0, 20.0 + j as f32 * 2.0]);
48+
let nx = 50;
49+
for i in 0..nx {
50+
for j in 0..10 {
51+
let rb = RigidBodyBuilder::dynamic().translation(vector![
52+
i as f32 * 2.0 - nx as f32 / 2.0,
53+
20.0 + j as f32 * 2.0
54+
]);
11055
let rb_handle = bodies.insert(rb);
111-
let co = ColliderBuilder::ball(1.0);
56+
57+
let falling_objects = if falling_objects == 3 {
58+
j % 3
59+
} else {
60+
falling_objects
61+
};
62+
63+
let ball_radius = 0.5;
64+
let co = match falling_objects {
65+
0 => ColliderBuilder::ball(ball_radius),
66+
1 => ColliderBuilder::cuboid(ball_radius, ball_radius),
67+
2 => ColliderBuilder::capsule_y(ball_radius, ball_radius),
68+
_ => unreachable!(),
69+
};
11270
colliders.insert_with_parent(co, rb_handle, &mut bodies);
11371
}
11472
}
@@ -129,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
12987
let indices: Vec<_> = (0..polyline.len() as u32)
13088
.map(|i| [i, (i + 1) % polyline.len() as u32])
13189
.collect();
132-
let rb = bodies.insert(RigidBodyBuilder::fixed());
90+
let rb = bodies.insert(RigidBodyBuilder::fixed().translation(vector![-20.0, -10.0]));
13391
let shape = SharedShape::voxelized_mesh(
13492
primitive_geometry,
13593
&polyline,
@@ -141,48 +99,19 @@ pub fn init_world(testbed: &mut Testbed) {
14199
colliders.insert_with_parent(ColliderBuilder::new(shape), rb, &mut bodies);
142100

143101
/*
144-
* Load .vox file.
102+
* A voxel wavy floor.
145103
*/
146-
let path = "/Users/sebcrozet/Downloads/droid_one.vox";
147-
148-
for i in 0..3 {
149-
for shape in voxels_from_dot_vox(primitive_geometry, path, 1.0) {
150-
let rb = bodies.insert(
151-
RigidBodyBuilder::fixed()
152-
.rotation(-3.14 / 2.0)
153-
.translation(vector![0.0, 10.0 + 50.0 * i as f32]),
154-
);
155-
colliders.insert_with_parent(ColliderBuilder::new(shape), rb, &mut bodies);
156-
}
157-
}
158-
159-
/*
160-
* Floor
161-
*/
162-
colliders.insert(ColliderBuilder::cuboid(100.0, 1.0).translation(vector![0.0, -40.0]));
104+
let voxels: Vec<_> = (0..300)
105+
.map(|i| {
106+
let y = (i as f32 / 20.0).sin().clamp(-0.5, 0.5) * 20.0;
107+
point![(i as f32 - 125.0) / 2.0, y]
108+
})
109+
.collect();
110+
colliders.insert(ColliderBuilder::voxels(primitive_geometry, &voxels, 1.0));
163111

164112
/*
165113
* Set up the testbed.
166114
*/
167115
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
168116
testbed.look_at(point![0.0, 20.0], 17.0);
169117
}
170-
171-
fn voxels_from_dot_vox(
172-
primitive_geometry: VoxelPrimitiveGeometry,
173-
path: impl AsRef<Path>,
174-
voxel_size: Real,
175-
) -> Vec<SharedShape> {
176-
let data = dot_vox::load(path.as_ref().to_str().unwrap()).unwrap();
177-
data.models
178-
.iter()
179-
.map(|model| {
180-
let centers: Vec<_> = model
181-
.voxels
182-
.iter()
183-
.map(|v| Point::new(v.y as f32, v.z as f32) * voxel_size) // FIXME: avoid duplicates
184-
.collect();
185-
SharedShape::voxels(primitive_geometry, &centers, voxel_size)
186-
})
187-
.collect()
188-
}

‎examples3d/all_examples3.rs

+1
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
11
#![allow(dead_code)]
2+
#![allow(clippy::type_complexity)]
23

34
#[cfg(target_arch = "wasm32")]
45
use wasm_bindgen::prelude::*;

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