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
68 lines
2.4 KiB
Rust
68 lines
2.4 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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let heights = Array2::zeros(100, 100);
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let heightfield = HeightField::with_flags(
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heights,
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Vector::new(60.0, 1.0, 60.0),
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HeightFieldFlags::all(),
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);
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let rotation = Vector::new(0.0, 0.0, 0.0); // Vector::new(-0.1, 0.0, 0.0);
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colliders
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.insert(ColliderBuilder::new(SharedShape::new(heightfield.clone())).rotation(rotation));
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// let mut trimesh = TriMesh::from(heightfield);
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// trimesh.set_flags(TriMeshFlags::MERGE_DUPLICATE_VERTICES)
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// colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())).rotation(rotation));
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// // NOTE: we add a sensor just because we want the testbed to display the mesh’s wireframe.
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// colliders.insert(
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// ColliderBuilder::new(SharedShape::new(trimesh))
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// .sensor(true)
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// .rotation(rotation),
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// );
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// Dynamic rigid bodies.
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(4.0, 0.5, 0.0))
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.linvel(Vector::new(0.0, -40.0, 20.0))
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(0.5);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(-3.0, 5.0, 0.0))
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.linvel(Vector::new(0.0, -4.0, 20.0))
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.5, 0.5, 0.5);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(8.0, 0.2, 0.0))
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.linvel(Vector::new(0.0, -4.0, 20.0))
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cylinder(0.5, 0.2).rotation(Vector::new(
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0.0,
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0.0,
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std::f32::consts::PI / 2.0,
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));
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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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