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
106 lines
3.3 KiB
Rust
106 lines
3.3 KiB
Rust
use rapier_testbed2d::Testbed;
|
|
use rapier2d::parry::transformation::voxelization::FillMode;
|
|
use rapier2d::prelude::*;
|
|
|
|
const VOXEL_SIZE: Real = 0.1; // 0.25;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* Voxel geometry type selection.
|
|
*/
|
|
// TODO: make the testbed support custom enums (or at least a list of option from strings and
|
|
// associated constants).
|
|
let settings = testbed.example_settings_mut();
|
|
let falling_objects = settings.get_or_set_string(
|
|
"Falling objects",
|
|
3, // Defaults to Mixed.
|
|
vec![
|
|
"Ball".to_string(),
|
|
"Cuboid".to_string(),
|
|
"Capsule".to_string(),
|
|
"Mixed".to_string(),
|
|
],
|
|
);
|
|
let voxel_size_y = settings.get_or_set_f32("Voxel size y", 1.0, 0.5..=2.0);
|
|
let voxel_size = Vector::new(1.0, voxel_size_y);
|
|
let test_ccd = settings.get_or_set_bool("Test CCD", false);
|
|
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
/*
|
|
* Create dynamic objects to fall on voxels.
|
|
*/
|
|
let nx = 50;
|
|
for i in 0..nx {
|
|
for j in 0..10 {
|
|
let mut rb = RigidBodyBuilder::dynamic().translation(Vector::new(
|
|
i as f32 * 2.0 - nx as f32 / 2.0,
|
|
20.0 + j as f32 * 2.0,
|
|
));
|
|
if test_ccd {
|
|
rb = rb.linvel(Vector::new(0.0, -1000.0)).ccd_enabled(true);
|
|
}
|
|
let rb_handle = bodies.insert(rb);
|
|
|
|
let falling_objects = if falling_objects == 3 {
|
|
j % 3
|
|
} else {
|
|
falling_objects
|
|
};
|
|
|
|
let ball_radius = 0.5;
|
|
let co = match falling_objects {
|
|
0 => ColliderBuilder::ball(ball_radius),
|
|
1 => ColliderBuilder::cuboid(ball_radius, ball_radius),
|
|
2 => ColliderBuilder::capsule_y(ball_radius, ball_radius),
|
|
_ => unreachable!(),
|
|
};
|
|
colliders.insert_with_parent(co, rb_handle, &mut bodies);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Voxelization.
|
|
*/
|
|
let polyline = vec![
|
|
Vector::new(0.0, 0.0),
|
|
Vector::new(0.0, 10.0),
|
|
Vector::new(7.0, 4.0),
|
|
Vector::new(14.0, 10.0),
|
|
Vector::new(14.0, 0.0),
|
|
Vector::new(13.0, 7.0),
|
|
Vector::new(7.0, 2.0),
|
|
Vector::new(1.0, 7.0),
|
|
];
|
|
let indices: Vec<_> = (0..polyline.len() as u32)
|
|
.map(|i| [i, (i + 1) % polyline.len() as u32])
|
|
.collect();
|
|
let rb = bodies.insert(RigidBodyBuilder::fixed().translation(Vector::new(-20.0, -10.0)));
|
|
let shape = SharedShape::voxelized_mesh(&polyline, &indices, 0.2, FillMode::default());
|
|
|
|
colliders.insert_with_parent(ColliderBuilder::new(shape), rb, &mut bodies);
|
|
|
|
/*
|
|
* A voxel wavy floor.
|
|
*/
|
|
let voxels: Vec<_> = (0..300)
|
|
.map(|i| {
|
|
let y = (i as f32 / 20.0).sin().clamp(-0.5, 0.5) * 20.0;
|
|
Vector::new((i as f32 - 125.0) * voxel_size.x / 2.0, y * voxel_size.y)
|
|
})
|
|
.collect();
|
|
colliders.insert(ColliderBuilder::voxels_from_points(voxel_size, &voxels));
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(Vec2::new(0.0, 20.0), 17.0);
|
|
}
|