nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Complete the pfm/pfm contact generator.

Browse Source
This commit is contained in:
Crozet Sébastien
2020-10-19 16:51:40 +02:00
parent faf3e7e0f7
commit 947c4813c9
14 changed files with 166 additions and 182 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
examples3d/primitives3.rs
View File

@@ -1,4 +1,4 @@
use na::Point3;
use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Ground
*/
let ground_size = 100.1;
let ground_height = 0.1;
let ground_height = 2.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
@@ -30,29 +30,30 @@ pub fn init_world(testbed: &mut Testbed) {
let num = 8;
let rad = 1.0;
let shift = rad * 2.0 + rad;
let centerx = shift * (num / 2) as f32;
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
let shiftx = rad * 2.0 + rad;
let shifty = rad * 2.0 + rad;
let shiftz = rad * 2.0 + rad;
let centerx = shiftx * (num / 2) as f32;
let centery = shifty / 2.0;
let centerz = shiftz * (num / 2) as f32;
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 {
let x = i as f32 * shift - centerx + offset;
let y = j as f32 * shift + centery + 3.0;
let z = k as f32 * shift - centerz + offset;
let x = i as f32 * shiftx - centerx + offset;
let y = j as f32 * shifty + centery + 3.0;
let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = match j % 2 {
let collider = match j % 3 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// 2 => ColliderBuilder::capsule_y(rad, rad).build(),
_ => unreachable!(),
_ => ColliderBuilder::cylinder(rad, rad).build(),
};
colliders.insert(collider, handle, &mut bodies);