fix voxels demos

Author: sebcrozet

examples2d/all_examples2.rs

@@ -1,4 +1,5 @@
 #![allow(dead_code)]
+#![allow(clippy::type_complexity)]
 
 #[cfg(target_arch = "wasm32")]
 use wasm_bindgen::prelude::*;

examples2d/voxels2.rs

@@ -1,9 +1,6 @@
-use rapier2d::parry::bounding_volume;
 use rapier2d::parry::transformation::voxelization::FillMode;
 use rapier2d::prelude::*;
 use rapier_testbed2d::Testbed;
-use std::fs::File;
-use std::io::BufReader;
 use std::path::Path;
 
 const VOXEL_SIZE: Real = 0.1; // 0.25;
@@ -18,13 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
     let geometry_mode = settings.get_or_set_string(
         "Voxels mode",
         0,
-        vec!["PseudoBall".to_string(), "PseudoCube".to_string()],
+        vec!["PseudoCube".to_string(), "PseudoBall".to_string()],
+    );
+    let falling_objects = settings.get_or_set_string(
+        "Falling objects",
+        3, // Defaults to Mixed.
+        vec![
+            "Ball".to_string(),
+            "Cuboid".to_string(),
+            "Capsule".to_string(),
+            "Mixed".to_string(),
+        ],
     );
 
     let primitive_geometry = if geometry_mode == 0 {
-        VoxelPrimitiveGeometry::PseudoBall
-    } else {
         VoxelPrimitiveGeometry::PseudoCube
+    } else {
+        VoxelPrimitiveGeometry::PseudoBall
     };
 
     /*
@@ -36,79 +43,30 @@ pub fn init_world(testbed: &mut Testbed) {
     let multibody_joints = MultibodyJointSet::new();
 
     /*
-     * Create the convex decompositions.
+     * Create dynamic objects to fall on voxels.
      */
-    // let geoms = models();
-    // let ngeoms = geoms.len();
-    // let width = (ngeoms as f32).sqrt() as usize;
-    // let num_duplications = 1; // 4;
-    // let shift = 7.0f32;
-    //
-    // for (igeom, obj_path) in geoms.into_iter().enumerate() {
-    //     let deltas = Isometry::identity();
-    //
-    //     let mut shapes = Vec::new();
-    //     println!("Parsing and decomposing: {}", obj_path);
-    //
-    //     let input = BufReader::new(File::open(obj_path).unwrap());
-    //
-    //     if let Ok(model) = obj::raw::parse_obj(input) {
-    //         let mut vertices: Vec<_> = model
-    //             .positions
-    //             .iter()
-    //             .map(|v| point![v.0, v.1, v.2])
-    //             .collect();
-    //         let indices: Vec<_> = model
-    //             .polygons
-    //             .into_iter()
-    //             .flat_map(|p| match p {
-    //                 Polygon::P(idx) => idx.into_iter(),
-    //                 Polygon::PT(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
-    //                 Polygon::PN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
-    //                 Polygon::PTN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
-    //             })
-    //             .collect();
-    //
-    //         // Compute the size of the model, to scale it and have similar size for everything.
-    //         let aabb = bounding_volume::details::point_cloud_aabb(&deltas, &vertices);
-    //         let center = aabb.center();
-    //         let diag = (aabb.maxs - aabb.mins).norm();
-    //
-    //         vertices
-    //             .iter_mut()
-    //             .for_each(|p| *p = (*p - center.coords) * 6.0 / diag);
-    //
-    //         let indices: Vec<_> = indices
-    //             .chunks(3)
-    //             .map(|idx| [idx[0] as u32, idx[1] as u32, idx[2] as u32])
-    //             .collect();
-    //
-    //         let decomposed_shape =
-    //             SharedShape::voxelized_mesh(&vertices, &indices, VOXEL_SIZE, FillMode::default());
-    //         shapes.push(decomposed_shape);
-    //
-    //         for k in 1..num_duplications + 1 {
-    //             let x = (igeom % width) as f32 * shift - 3.0;
-    //             let y = (igeom / width) as f32 * shift + 4.0;
-    //             let z = k as f32 * shift - 3.0;
-    //
-    //             let body = RigidBodyBuilder::fixed().translation(vector![x, y, z]);
-    //             let handle = bodies.insert(body);
-    //
-    //             for shape in &shapes {
-    //                 let collider = ColliderBuilder::new(shape.clone());
-    //                 colliders.insert_with_parent(collider, handle, &mut bodies);
-    //             }
-    //         }
-    //     }
-    // }
-
-    for i in 0..30 {
-        for j in 0..5 {
-            let rb = RigidBodyBuilder::dynamic()
-                .translation(vector![i as f32 * 2.0, 20.0 + j as f32 * 2.0]);
+    let nx = 50;
+    for i in 0..nx {
+        for j in 0..10 {
+            let rb = RigidBodyBuilder::dynamic().translation(vector![
+                i as f32 * 2.0 - nx as f32 / 2.0,
+                20.0 + j as f32 * 2.0
+            ]);
             let rb_handle = bodies.insert(rb);
-            let co = ColliderBuilder::ball(1.0);
+
+            let falling_objects = if falling_objects == 3 {
+                j % 3
+            } else {
+                falling_objects
+            };
+
+            let ball_radius = 0.5;
+            let co = match falling_objects {
+                0 => ColliderBuilder::ball(ball_radius),
+                1 => ColliderBuilder::cuboid(ball_radius, ball_radius),
+                2 => ColliderBuilder::capsule_y(ball_radius, ball_radius),
+                _ => unreachable!(),
+            };
             colliders.insert_with_parent(co, rb_handle, &mut bodies);
         }
     }
@@ -129,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let indices: Vec<_> = (0..polyline.len() as u32)
         .map(|i| [i, (i + 1) % polyline.len() as u32])
         .collect();
-    let rb = bodies.insert(RigidBodyBuilder::fixed());
+    let rb = bodies.insert(RigidBodyBuilder::fixed().translation(vector![-20.0, -10.0]));
     let shape = SharedShape::voxelized_mesh(
         primitive_geometry,
         &polyline,
@@ -141,48 +99,19 @@ pub fn init_world(testbed: &mut Testbed) {
     colliders.insert_with_parent(ColliderBuilder::new(shape), rb, &mut bodies);
 
     /*
-     * Load .vox file.
+     * A voxel wavy floor.
      */
-    let path = "/Users/sebcrozet/Downloads/droid_one.vox";
-
-    for i in 0..3 {
-        for shape in voxels_from_dot_vox(primitive_geometry, path, 1.0) {
-            let rb = bodies.insert(
-                RigidBodyBuilder::fixed()
-                    .rotation(-3.14 / 2.0)
-                    .translation(vector![0.0, 10.0 + 50.0 * i as f32]),
-            );
-            colliders.insert_with_parent(ColliderBuilder::new(shape), rb, &mut bodies);
-        }
-    }
-
-    /*
-     * Floor
-     */
-    colliders.insert(ColliderBuilder::cuboid(100.0, 1.0).translation(vector![0.0, -40.0]));
+    let voxels: Vec<_> = (0..300)
+        .map(|i| {
+            let y = (i as f32 / 20.0).sin().clamp(-0.5, 0.5) * 20.0;
+            point![(i as f32 - 125.0) / 2.0, y]
+        })
+        .collect();
+    colliders.insert(ColliderBuilder::voxels(primitive_geometry, &voxels, 1.0));
 
     /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 20.0], 17.0);
 }
-
-fn voxels_from_dot_vox(
-    primitive_geometry: VoxelPrimitiveGeometry,
-    path: impl AsRef<Path>,
-    voxel_size: Real,
-) -> Vec<SharedShape> {
-    let data = dot_vox::load(path.as_ref().to_str().unwrap()).unwrap();
-    data.models
-        .iter()
-        .map(|model| {
-            let centers: Vec<_> = model
-                .voxels
-                .iter()
-                .map(|v| Point::new(v.y as f32, v.z as f32) * voxel_size) // FIXME: avoid duplicates
-                .collect();
-            SharedShape::voxels(primitive_geometry, &centers, voxel_size)
-        })
-        .collect()
-}

examples3d/all_examples3.rs

@@ -1,4 +1,5 @@
 #![allow(dead_code)]
+#![allow(clippy::type_complexity)]
 
 #[cfg(target_arch = "wasm32")]
 use wasm_bindgen::prelude::*;