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
89 lines
3.5 KiB
Rust
89 lines
3.5 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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* Setup a velocity-based kinematic rigid body.
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*/
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let platform_body =
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RigidBodyBuilder::kinematic_velocity_based().translation(Vector::new(0.0, 1.5 + 0.8, 0.0));
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let platform_handle = bodies.insert(platform_body);
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let collider = ColliderBuilder::cuboid(5.0, 0.5, 5.0);
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colliders.insert_with_parent(collider, platform_handle, &mut bodies);
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// A second velocity-based platform but this one will move super slow.
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let slow_platform_body =
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RigidBodyBuilder::kinematic_velocity_based().translation(Vector::new(0.0, 0.0, 0.0));
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let slow_platform_handle = bodies.insert(slow_platform_body);
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let collider = ColliderBuilder::cuboid(5.0, 0.5, 5.0);
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colliders.insert_with_parent(collider, slow_platform_handle, &mut bodies);
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/*
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* Setup a callback to control the platform.
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*/
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let start_tick = 500;
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let stop_tick = 1000;
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testbed.add_callback(move |_, physics, _, run_state| {
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if run_state.timestep_id == stop_tick {
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println!("Both platforms should stop moving now and eventually fall asleep.");
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// The platforms moved until this time. They must not be sleeping.
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assert!(!physics.bodies[platform_handle].is_sleeping());
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assert!(!physics.bodies[slow_platform_handle].is_sleeping());
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if let Some(slow_platform) = physics.bodies.get_mut(slow_platform_handle) {
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slow_platform.set_linvel(Vector::ZERO, true);
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}
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if let Some(platform) = physics.bodies.get_mut(platform_handle) {
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platform.set_linvel(Vector::ZERO, true);
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}
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}
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if run_state.timestep_id > stop_tick + 500 {
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// Platforms should fall asleep shortly after we stopped moving them.
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assert!(physics.bodies[platform_handle].is_sleeping());
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assert!(physics.bodies[slow_platform_handle].is_sleeping());
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}
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if run_state.timestep_id < start_tick || run_state.timestep_id >= stop_tick {
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return;
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} else if run_state.timestep_id == start_tick {
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println!("Platforms should start moving now and never stop.");
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println!("The slow platform should move up and not sleep.");
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// Platforms should have had plenty of time to fall asleep before we start moving them.
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assert!(physics.bodies[platform_handle].is_sleeping());
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assert!(physics.bodies[slow_platform_handle].is_sleeping());
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let slow_velocity = Vector::new(0.0, 0.01, 0.0);
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if let Some(slow_platform) = physics.bodies.get_mut(slow_platform_handle) {
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slow_platform.set_linvel(slow_velocity, true);
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}
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}
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let velocity = Vector::new(
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0.0,
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(run_state.time * 2.0).cos(),
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run_state.time.sin() * 2.0,
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);
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// Update the velocity-based kinematic body by setting its velocity.
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if let Some(platform) = physics.bodies.get_mut(platform_handle) {
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platform.set_linvel(velocity, true);
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}
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});
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/*
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* Run the simulation.
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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, 5.0, 10.0), Vec3::ZERO);
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}
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