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
44 lines
1.4 KiB
Rust
44 lines
1.4 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 = 10.0;
|
|
let ground_height = 10.0;
|
|
|
|
for _ in 0..1 {
|
|
let rigid_body =
|
|
RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height, 0.0));
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
}
|
|
|
|
// Build the dynamic box rigid body.
|
|
for _ in 0..1 {
|
|
let rigid_body = RigidBodyBuilder::dynamic()
|
|
// .translation(Vector::new(0.0, 0.1, 0.0))
|
|
// .rotation(Vector::new(0.8, 0.2, 0.1))
|
|
.can_sleep(false);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0);
|
|
colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
|
|
}
|
|
|
|
/*
|
|
* 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);
|
|
}
|