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
116 lines
3.7 KiB
Rust
116 lines
3.7 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
/*
|
|
* Ground.
|
|
*/
|
|
let ground_size = 20.0;
|
|
let ground_height = 0.1;
|
|
|
|
let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height, 0.0));
|
|
let ground_handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
|
|
.friction(0.15)
|
|
// .restitution(0.5)
|
|
;
|
|
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
|
|
|
|
/*
|
|
* Rolling ball
|
|
*/
|
|
let ball_rad = 0.1;
|
|
let rb = RigidBodyBuilder::dynamic()
|
|
.translation(Vector::new(0.0, 0.2, 0.0))
|
|
.linvel(Vector::new(10.0, 0.0, 0.0));
|
|
let ball_handle = bodies.insert(rb);
|
|
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
|
|
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
|
|
|
|
let mut linvel = Vector::ZERO;
|
|
let mut angvel = AngVector::ZERO;
|
|
let mut pos = Pose::IDENTITY;
|
|
let mut step = 0;
|
|
let mut extra_colliders = Vec::new();
|
|
let snapped_frame = 51;
|
|
|
|
testbed.add_callback(move |mut graphics, physics, _, _| {
|
|
step += 1;
|
|
|
|
// Add a bigger ball collider
|
|
let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)).density(100.0);
|
|
let new_ball_collider_handle =
|
|
physics
|
|
.colliders
|
|
.insert_with_parent(collider, ball_handle, &mut physics.bodies);
|
|
|
|
if let Some(graphics) = &mut graphics {
|
|
graphics.add_collider(new_ball_collider_handle, &physics.colliders);
|
|
}
|
|
|
|
extra_colliders.push(new_ball_collider_handle);
|
|
|
|
// Snap the ball velocity or restore it.
|
|
let ball = physics.bodies.get_mut(ball_handle).unwrap();
|
|
|
|
if step == snapped_frame {
|
|
linvel = ball.linvel();
|
|
angvel = ball.angvel();
|
|
pos = *ball.position();
|
|
}
|
|
|
|
if step == 100 {
|
|
ball.set_linvel(linvel, true);
|
|
ball.set_angvel(angvel, true);
|
|
ball.set_position(pos, true);
|
|
step = snapped_frame;
|
|
|
|
for handle in &extra_colliders {
|
|
if let Some(graphics) = &mut graphics {
|
|
graphics.remove_collider(*handle);
|
|
}
|
|
|
|
physics
|
|
.colliders
|
|
.remove(*handle, &mut physics.islands, &mut physics.bodies, true);
|
|
}
|
|
|
|
extra_colliders.clear();
|
|
}
|
|
|
|
// Remove then re-add the ground collider.
|
|
// let ground = physics.bodies.get_mut(ground_handle).unwrap();
|
|
// ground.set_position(Pose::from_translation(Vector::new(0.0, step as f32 * 0.001, 0.0)), false);
|
|
// let coll = physics
|
|
// .colliders
|
|
// .remove(ground_collider_handle, &mut physics.bodies, true)
|
|
// .unwrap();
|
|
let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
|
|
.friction(0.15);
|
|
let new_ground_collider_handle =
|
|
physics
|
|
.colliders
|
|
.insert_with_parent(coll, ground_handle, &mut physics.bodies);
|
|
|
|
if let Some(graphics) = &mut graphics {
|
|
graphics.add_collider(new_ground_collider_handle, &physics.colliders);
|
|
}
|
|
|
|
extra_colliders.push(new_ground_collider_handle);
|
|
});
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(Vec3::new(10.0, 10.0, 10.0), Vec3::ZERO);
|
|
}
|