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
103 lines
3.6 KiB
Rust
103 lines
3.6 KiB
Rust
use kiss3d::color::Color;
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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 = 10.1;
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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, ground_size);
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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/*
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* Create some boxes.
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*/
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let num = 10;
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let rad = 0.2;
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let shift = rad * 2.0;
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let centerx = shift * num as f32 / 2.0;
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let centerz = shift * num as f32 / 2.0;
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for i in 0usize..num {
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for k in 0usize..num {
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let x = i as f32 * shift - centerx;
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let y = 3.0;
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let z = k as f32 * shift - centerz;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y, z));
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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testbed.set_initial_body_color(handle, Color::new(0.5, 0.5, 1.0, 1.0));
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}
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}
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/*
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* Create a cube that will have a ball-shaped sensor attached.
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*/
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// Rigid body so that the sensor can move.
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let sensor = RigidBodyBuilder::dynamic().translation(Vector::new(0.0, 5.0, 0.0));
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let sensor_handle = bodies.insert(sensor);
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// Solid cube attached to the sensor which
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// other colliders can touch.
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
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// We create a collider desc without density because we don't
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// want it to contribute to the rigid body mass.
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let sensor_collider = ColliderBuilder::ball(rad * 5.0)
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.density(0.0)
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.sensor(true)
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.active_events(ActiveEvents::COLLISION_EVENTS);
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colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
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testbed.set_initial_body_color(sensor_handle, Color::new(0.5, 1.0, 1.0, 1.0));
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// Callback that will be executed on the main loop to handle proximities.
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testbed.add_callback(move |mut graphics, physics, events, _| {
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while let Ok(prox) = events.collision_events.try_recv() {
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let color = if prox.started() {
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Color::new(1.0, 1.0, 0.0, 1.0)
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} else {
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Color::new(0.5, 0.5, 1.0, 1.0)
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};
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let parent_handle1 = physics.colliders[prox.collider1()].parent().unwrap();
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let parent_handle2 = physics.colliders[prox.collider2()].parent().unwrap();
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if let Some(graphics) = &mut graphics {
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if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
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graphics.set_body_color(parent_handle1, color, false);
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}
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if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
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graphics.set_body_color(parent_handle2, color, false);
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}
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}
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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(6.0, 4.0, 6.0), Vec3::new(0.0, 1.0, 0.0));
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}
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