Add a character controller implementation

examples3d/character_controller3.rs

@@ -0,0 +1,157 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 5.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
+
+    /*
+     * Character we will control manually.
+     */
+    let rigid_body =
+        RigidBodyBuilder::kinematic_position_based().translation(vector![-3.0, 5.0, 0.0]);
+    let character_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::capsule_y(0.3, 0.15); // 0.15, 0.3, 0.15);
+    colliders.insert_with_parent(collider, character_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 0.1;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = rad;
+
+    for j in 0usize..4 {
+        for k in 0usize..4 {
+            for i in 0..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery;
+                let z = k as f32 * shift + centerx;
+
+                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad, rad);
+                colliders.insert_with_parent(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Create some stairs.
+     */
+    let stair_width = 1.0;
+    let stair_height = 0.1;
+    for i in 0..10 {
+        let x = i as f32 * stair_width / 2.0;
+        let y = i as f32 * stair_height * 1.5 + 3.0;
+
+        let collider = ColliderBuilder::cuboid(stair_width / 2.0, stair_height / 2.0, stair_width)
+            .translation(vector![x, y, 0.0]);
+        colliders.insert(collider);
+    }
+
+    /*
+     * Create a slope we can climb.
+     */
+    let slope_angle = 0.2;
+    let slope_size = 2.0;
+    let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
+        .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
+        .rotation(Vector::z() * slope_angle);
+    colliders.insert(collider);
+
+    /*
+     * Create a slope we can’t climb.
+     */
+    let impossible_slope_angle = 0.9;
+    let impossible_slope_size = 2.0;
+    let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
+        .translation(vector![
+            ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
+            -ground_height + 2.3,
+            0.0
+        ])
+        .rotation(Vector::z() * impossible_slope_angle);
+    colliders.insert(collider);
+
+    /*
+     * Create a moving platform.
+     */
+    let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]);
+    // .rotation(-0.3);
+    let platform_handle = bodies.insert(body);
+    let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0);
+    colliders.insert_with_parent(collider, platform_handle, &mut bodies);
+
+    /*
+     * More complex ground.
+     */
+    let ground_size = Vector::new(10.0, 1.0, 10.0);
+    let nsubdivs = 20;
+
+    let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
+        (i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos()
+            + (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
+    });
+
+    let collider =
+        ColliderBuilder::heightfield(heights, ground_size).translation(vector![-8.0, 5.0, 0.0]);
+    colliders.insert(collider);
+
+    /*
+     * A tilting dynamic body with a limited joint.
+     */
+    let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]);
+    let ground_handle = bodies.insert(ground);
+    let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
+    let handle = bodies.insert(body);
+    let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+    let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]);
+    impulse_joints.insert(ground_handle, handle, joint, true);
+
+    /*
+     * Setup a callback to move the platform.
+     */
+    testbed.add_callback(move |_, physics, _, run_state| {
+        let linvel = vector![
+            (run_state.time * 2.0).sin() * 2.0,
+            (run_state.time * 5.0).sin() * 1.5,
+            0.0
+        ];
+        // let angvel = run_state.time.sin() * 0.5;
+
+        // Update the velocity-based kinematic body by setting its velocity.
+        if let Some(platform) = physics.bodies.get_mut(platform_handle) {
+            platform.set_linvel(linvel, true);
+            // NOTE: interaction with rotating platforms isn’t handled very well yet.
+            // platform.set_angvel(angvel, true);
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.set_character_body(character_handle);
+    testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
+}