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First complete implementation of the hierarchical SAP.

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This commit is contained in:
Crozet Sébastien
2021-03-13 18:00:58 +01:00
parent a967ace7d4
commit 3a1502be74
18 changed files with 784 additions and 282 deletions
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48
examples3d/primitives3.rs
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@@ -11,19 +11,6 @@ pub fn init_world(testbed: &mut Testbed) {
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 100.1;
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the cubes
*/
@@ -39,11 +26,11 @@ pub fn init_world(testbed: &mut Testbed) {
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..20 {
for i in 0..num {
for k in 0usize..num {
for j in 0usize..1 {
for i in 0..1 {
for k in 0usize..1 {
let x = i as f32 * shiftx - centerx + offset;
let y = j as f32 * shifty + centery + 3.0;
let y = j as f32 * shifty + centery - rad;
let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
@@ -67,10 +54,37 @@ pub fn init_world(testbed: &mut Testbed) {
offset -= 0.05 * rad * (num as f32 - 1.0);
}
/*
* Ground
*/
testbed.add_callback(
move |mut window, mut graphics, physics, events, run_state| {
if run_state.timestep_id == 10 {
let ground_size = 100.1;
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let handle = physics.bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
physics
.colliders
.insert(collider, handle, &mut physics.bodies);
if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
graphics.add(window, handle, &physics.bodies, &physics.colliders);
}
}
},
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.physics_state_mut().gravity.fill(0.0);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}