0b7c3b34ec
* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy * chore: update changelog * Fix warnings and tests * Release v0.32.0
58 lines
1.8 KiB
Rust
58 lines
1.8 KiB
Rust
use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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pub fn init_world(testbed: &mut Testbed) {
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/*
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* World
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*/
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let mut bodies = RigidBodySet::new();
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let mut colliders = ColliderSet::new();
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let impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Ground.
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*/
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let ground_size = 3.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height, 0.0));
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4);
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let mut ground_collider_handle =
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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/*
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* Rolling ball
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*/
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let ball_rad = 0.1;
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let rb = RigidBodyBuilder::dynamic().translation(Vector::new(0.0, 0.2, 0.0));
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let ball_handle = bodies.insert(rb);
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let collider = ColliderBuilder::ball(ball_rad).density(100.0);
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colliders.insert_with_parent(collider, ball_handle, &mut bodies);
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testbed.add_callback(move |_, physics, _, _| {
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// Remove then re-add the ground collider.
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let removed_collider_handle = ground_collider_handle;
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let coll = physics
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.colliders
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.remove(
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removed_collider_handle,
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&mut physics.islands,
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&mut physics.bodies,
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true,
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)
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.unwrap();
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ground_collider_handle =
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physics
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.colliders
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.insert_with_parent(coll, ground_handle, &mut physics.bodies);
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});
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/*
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* Set up the testbed.
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*/
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testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
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testbed.look_at(Vec3::new(10.0, 10.0, 10.0), Vec3::ZERO);
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}
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