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
76 lines
2.4 KiB
Rust
76 lines
2.4 KiB
Rust
use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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fn prismatic_repro(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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box_center: Vector,
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) {
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let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(box_center));
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colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 0.25, 1.0), box_rb, bodies);
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let wheel_y = -1.0;
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let wheel_positions = vec![
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Vector::new(1.0, wheel_y, -1.0),
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Vector::new(-1.0, wheel_y, -1.0),
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Vector::new(1.0, wheel_y, 1.0),
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Vector::new(-1.0, wheel_y, 1.0),
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];
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for pos in wheel_positions {
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let wheel_pos_in_world = box_center + pos;
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let wheel_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(wheel_pos_in_world));
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colliders.insert_with_parent(ColliderBuilder::ball(0.5), wheel_rb, bodies);
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let (stiffness, damping) = (0.05, 0.2);
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let prismatic = PrismaticJointBuilder::new(Vector::Y)
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.local_anchor1(pos)
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.motor_position(0.0, stiffness, damping);
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impulse_joints.insert(box_rb, wheel_rb, prismatic, true);
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}
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// put a small box under one of the wheels
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let gravel = bodies.insert(RigidBodyBuilder::dynamic().translation(Vector::new(
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box_center.x + 1.0,
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box_center.y - 2.4,
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-1.0,
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)));
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colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.1, 0.5), gravel, bodies);
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}
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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 mut 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 = 50.0;
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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 handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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prismatic_repro(
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&mut bodies,
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&mut colliders,
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&mut impulse_joints,
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Vector::new(0.0, 5.0, 0.0),
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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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