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Add a velocity-based platform the the platform demos.

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This commit is contained in:
Crozet Sébastien
2021-06-01 15:02:48 +02:00
parent dbb3c8f43b
commit 1839f61d81
2 changed files with 52 additions and 33 deletions
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45
examples3d/platform3.rs
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@@ -52,14 +52,24 @@ pub fn init_world(testbed: &mut Testbed) {
}
/*
* Setup a kinematic rigid body.
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic()
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
.translation(vector![0.0, 1.5 + 0.8, -10.0 * rad])
.build();
let platform_handle = bodies.insert(platform_body);
let velocity_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
colliders.insert_with_parent(collider, platform_handle, &mut bodies);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based()
.translation(vector![0.0, 2.0 + 1.5 + 0.8, -10.0 * rad])
.build();
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
/*
* Setup a callback to control the platform.
@@ -71,21 +81,22 @@ pub fn init_world(testbed: &mut Testbed) {
return;
}
if let Some(platform) = physics.bodies.get_mut(platform_handle) {
let mut next_pos = *platform.position();
let velocity = vector![
0.0,
(run_state.time * 5.0).sin(),
run_state.time.sin() * 5.0
];
let dt = 0.016;
next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt;
next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt;
// Update the velocity-based kinematic body by setting its velocity.
if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
platform.set_linvel(velocity, true);
}
if next_pos.translation.vector.z >= rad * 10.0 {
next_pos.translation.vector.z -= dt;
}
if next_pos.translation.vector.z <= -rad * 10.0 {
next_pos.translation.vector.z += dt;
}
platform.set_next_kinematic_position(next_pos);
// Update the position-based kinematic body by setting its next position.
if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
let mut next_tra = *platform.translation();
next_tra += velocity * physics.integration_parameters.dt;
platform.set_next_kinematic_translation(next_tra);
}
});