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
70 lines
2.0 KiB
Rust
70 lines
2.0 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 = 20.0;
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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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.friction(0.15)
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// .restitution(0.5)
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;
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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()
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.translation(Vector::new(0.0, 0.2, 0.0))
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.linvel(Vector::new(10.0, 0.0, 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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let mut linvel = Vector::ZERO;
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let mut angvel = AngVector::ZERO;
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let mut pos = Pose::IDENTITY;
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let mut step = 0;
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let snapped_frame = 51;
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testbed.add_callback(move |_, physics, _, _| {
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step += 1;
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// Snap the ball velocity or restore it.
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let ball = physics.bodies.get_mut(ball_handle).unwrap();
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if step == snapped_frame {
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linvel = ball.linvel();
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angvel = ball.angvel();
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pos = *ball.position();
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}
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if step == 100 {
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ball.set_linvel(linvel, true);
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ball.set_angvel(angvel, true);
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ball.set_position(pos, true);
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step = snapped_frame;
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}
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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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