Projection friction impulses on an implicit cone instead of a pyramidal approximation.

examples3d/debug_friction3.rs

@@ -0,0 +1,50 @@
+use na::{Point3, Vector3};
+use rapier3d::dynamics::{JointSet, 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 joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
+        .friction(1.5)
+        .build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    // Build a dynamic box rigid body.
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 1.1, 0.0)
+        .rotation(Vector3::y() * 0.3)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = &mut bodies[handle];
+    let force = rigid_body.position() * Vector3::z() * 50.0;
+    rigid_body.set_linvel(force, true);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}