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
57 lines
1.8 KiB
Rust
57 lines
1.8 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
// This shows a bug when a cylinder is in contact with a very large
|
|
// but very thin cuboid. In this case the EPA returns an incorrect
|
|
// contact normal, resulting in the cylinder falling through the floor.
|
|
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 vertices = vec![
|
|
// Vec3::new(-50.0, 0.0, -50.0),
|
|
// Vec3::new(-50.0, 0.0, 50.0),
|
|
// Vec3::new(50.0, 0.0, 50.0),
|
|
// Vec3::new(50.0, 0.0, -50.0),
|
|
// ];
|
|
// let indices = vec![[0, 1, 2], [0, 2, 3]];
|
|
//
|
|
// let collider = ColliderBuilder::trimesh_with_flags(vertices, indices, TriMeshFlags::all());
|
|
// colliders.insert(collider);
|
|
|
|
let heights = Array2::repeat(2, 2, 0.0);
|
|
let collider = ColliderBuilder::heightfield_with_flags(
|
|
heights,
|
|
Vector::new(50.0, 1.0, 50.0),
|
|
HeightFieldFlags::FIX_INTERNAL_EDGES,
|
|
);
|
|
colliders.insert(collider);
|
|
|
|
/*
|
|
* Create the cubes
|
|
*/
|
|
// Build the rigid body.
|
|
let rigid_body = RigidBodyBuilder::dynamic()
|
|
.translation(Vector::new(0.0, 5.0, 0.0))
|
|
.rotation(Vector::new(0.5, 0.0, 0.5))
|
|
.linvel(Vector::new(0.0, -100.0, 0.0))
|
|
.soft_ccd_prediction(10.0);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(5.0, 0.015, 5.0);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(Vec3::new(100.0, 100.0, 100.0), Vec3::ZERO);
|
|
}
|