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
88 lines
3.3 KiB
Rust
88 lines
3.3 KiB
Rust
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 = 50.0;
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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 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 num = 8;
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let numy = 15;
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let rad = 0.2;
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let shift = rad * 4.0 + rad;
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let centerx = shift * (num / 2) as f32;
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let centery = shift / 2.0;
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let centerz = shift * (num / 2) as f32;
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let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
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for j in 0usize..numy {
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for i in 0..num {
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for k in 0usize..num {
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let x = i as f32 * shift * 5.0 - centerx + offset;
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let y = j as f32 * (shift * 5.0) + centery + 3.0;
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let z = k as f32 * shift * 2.0 - centerz + offset;
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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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// First option: attach several colliders to a single rigid-body.
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if j < numy / 2 {
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let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad);
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let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
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.translation(Vector::new(rad * 10.0, rad * 10.0, 0.0));
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let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
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.translation(Vector::new(-rad * 10.0, rad * 10.0, 0.0));
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colliders.insert_with_parent(collider1, handle, &mut bodies);
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colliders.insert_with_parent(collider2, handle, &mut bodies);
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colliders.insert_with_parent(collider3, handle, &mut bodies);
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} else {
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// Second option: create a compound shape and attach it to a single collider.
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let shapes = vec![
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(Pose::IDENTITY, SharedShape::cuboid(rad * 10.0, rad, rad)),
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(
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Pose::from_translation(Vector::new(rad * 10.0, rad * 10.0, 0.0)),
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SharedShape::cuboid(rad, rad * 10.0, rad),
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),
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(
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Pose::from_translation(Vector::new(-rad * 10.0, rad * 10.0, 0.0)),
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SharedShape::cuboid(rad, rad * 10.0, rad),
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),
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];
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let collider = ColliderBuilder::compound(shapes);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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}
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}
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}
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offset -= 0.05 * rad * (num as f32 - 1.0);
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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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