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
69 lines
2.2 KiB
Rust
69 lines
2.2 KiB
Rust
use rand::distr::{Distribution, StandardUniform};
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use rand::{SeedableRng, rngs::StdRng};
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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 = 40.0;
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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 polyhedra
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*/
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let num = 5;
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let scale = 2.0;
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let border_rad = 0.1;
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let shift = border_rad * 2.0 + scale;
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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 rng = StdRng::seed_from_u64(0);
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let distribution = StandardUniform;
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for j in 0usize..25 {
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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 - centerx;
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let y = j as f32 * shift + centery + 3.0;
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let z = k as f32 * shift - centerz;
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let mut points = Vec::new();
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for _ in 0..10 {
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let pt: SimdPoint<f32> = distribution.sample(&mut rng);
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points.push(Vector::new(pt.x, pt.y, pt.z) * scale);
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}
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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::round_convex_hull(&points, border_rad).unwrap();
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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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/*
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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(30.0, 30.0, 30.0), Vec3::ZERO);
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}
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