49 lines
1.7 KiB
Rust
49 lines
1.7 KiB
Rust
use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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use rapier_urdf::{UrdfLoaderOptions, UrdfRobot};
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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 mut impulse_joints = ImpulseJointSet::new();
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let mut multibody_joints = MultibodyJointSet::new();
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/*
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* Ground
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*/
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let options = UrdfLoaderOptions {
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create_colliders_from_visual_shapes: true,
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create_colliders_from_collision_shapes: false,
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apply_imported_mass_props: false,
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make_roots_fixed: true,
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// Z-up to Y-up.
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shift: Isometry::rotation(Vector::x() * std::f32::consts::FRAC_PI_2),
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rigid_body_blueprint: RigidBodyBuilder::default().gravity_scale(1.0),
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collider_blueprint: ColliderBuilder::default()
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.density(1.0)
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.active_collision_types(ActiveCollisionTypes::empty()),
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..Default::default()
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};
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let (mut robot, _) =
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UrdfRobot::from_file("assets/3d/T12/urdf/T12.URDF", options, None).unwrap();
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// let (mut robot, _) = UrdfRobot::from_file("assets/3d/sample.urdf", options).unwrap();
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// robot.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints);
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robot.insert_using_multibody_joints(&mut bodies, &mut colliders, &mut multibody_joints);
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testbed.add_callback(move |mut graphics, physics, _, state| {
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for (_, body) in physics.bodies.iter() {
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println!("pose: {:?}", body.position());
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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(point![100.0, 100.0, 100.0], Point::origin());
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}
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