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
127 lines
4.2 KiB
Rust
127 lines
4.2 KiB
Rust
use kiss3d::color::Color;
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use rapier_testbed3d::Testbed;
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use rapier3d::glamx::Vec3Swizzles;
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use rapier3d::prelude::*;
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pub fn build_block(
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testbed: &mut Testbed,
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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half_extents: Vec3,
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shift: Vec3,
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(mut numx, numy, mut numz): (usize, usize, usize),
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) {
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let dimensions = [half_extents.xyz(), half_extents.zyx()];
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let block_width = 2.0 * half_extents.z * numx as f32;
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let block_height = 2.0 * half_extents.y * numy as f32;
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let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
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let mut color0 = Color::new(0.7, 0.5, 0.9, 1.0);
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let mut color1 = Color::new(0.6, 1.0, 0.6, 1.0);
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for i in 0..numy {
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std::mem::swap(&mut numx, &mut numz);
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let dim = dimensions[i % 2];
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let y = dim.y * i as f32 * 2.0;
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for j in 0..numx {
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let x = if i % 2 == 0 {
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spacing * j as f32 * 2.0
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} else {
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dim.x * j as f32 * 2.0
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};
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for k in 0..numz {
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let z = if i % 2 == 0 {
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dim.z * k as f32 * 2.0
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} else {
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spacing * k as f32 * 2.0
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};
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::dynamic().translation(Vec3::new(
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x + dim.x + shift.x,
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y + dim.y + shift.y,
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z + dim.z + shift.z,
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));
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z);
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colliders.insert_with_parent(collider, handle, bodies);
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testbed.set_initial_body_color(handle, color0);
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std::mem::swap(&mut color0, &mut color1);
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}
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}
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}
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// Close the top.
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let dim = half_extents.zxy();
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for i in 0..(block_width / (dim.x * 2.0)) as usize {
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for j in 0..(block_width / (dim.z * 2.0)) as usize {
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::dynamic().translation(Vec3::new(
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i as f32 * dim.x * 2.0 + dim.x + shift.x,
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dim.y + shift.y + block_height,
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j as f32 * dim.z * 2.0 + dim.z + shift.z,
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));
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z);
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colliders.insert_with_parent(collider, handle, bodies);
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testbed.set_initial_body_color(handle, color0);
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std::mem::swap(&mut color0, &mut color1);
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}
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}
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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 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(Vec3::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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/*
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* Create the cubes
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*/
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let half_extents = Vec3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
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let mut block_height = 0.0;
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// These should only be set to odd values otherwise
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// the blocks won't align in the nicest way.
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let numy = [0, 9, 13, 17, 21, 41];
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for i in (1..=5).rev() {
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let numx = i;
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let numy = numy[i];
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let numz = numx * 3 + 1;
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let block_width = numx as f32 * half_extents.z * 2.0;
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build_block(
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testbed,
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&mut bodies,
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&mut colliders,
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half_extents,
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Vec3::new(-block_width / 2.0, block_height, -block_width / 2.0),
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(numx, numy, numz),
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);
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block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
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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(100.0, 100.0, 100.0), Vec3::ZERO);
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}
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