First public release of Rapier.

examples3d/stress_joint_prismatic3.rs

@@ -0,0 +1,81 @@
+use na::{Point3, Unit, Vector3};
+use rapier3d::dynamics::{JointSet, PrismaticJoint, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut joints = JointSet::new();
+
+    let rad = 0.4;
+    let num = 5;
+    let shift = 1.0;
+
+    for m in 0..8 {
+        let z = m as f32 * shift * (num as f32 + 2.0);
+
+        for l in 0..8 {
+            let y = l as f32 * shift * (num as f32) * 2.0;
+
+            for j in 0..50 {
+                let x = j as f32 * shift * 4.0;
+
+                let ground = RigidBodyBuilder::new_static().translation(x, y, z).build();
+                let mut curr_parent = bodies.insert(ground);
+                let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
+                colliders.insert(collider, curr_parent, &mut bodies);
+
+                for i in 0..num {
+                    let z = z + (i + 1) as f32 * shift;
+                    let density = 1.0;
+                    let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+                    let curr_child = bodies.insert(rigid_body);
+                    let collider = ColliderBuilder::cuboid(rad, rad, rad)
+                        .density(density)
+                        .build();
+                    colliders.insert(collider, curr_child, &mut bodies);
+
+                    let axis = if i % 2 == 0 {
+                        Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
+                    } else {
+                        Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
+                    };
+
+                    let z = Vector3::z();
+                    let mut prism = PrismaticJoint::new(
+                        Point3::origin(),
+                        axis,
+                        z,
+                        Point3::new(0.0, 0.0, -shift),
+                        axis,
+                        z,
+                    );
+                    prism.limits_enabled = true;
+                    prism.limits[0] = -2.0;
+                    prism.limits[1] = 2.0;
+                    joints.insert(&mut bodies, curr_parent, curr_child, prism);
+
+                    curr_parent = curr_child;
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(
+        Point3::new(262.0, 63.0, 124.0),
+        Point3::new(101.0, 4.0, -3.0),
+    );
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
+    testbed.run()
+}