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
58 lines
1.8 KiB
Rust
58 lines
1.8 KiB
Rust
use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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// This shows a bug when a cylinder is in contact with a very large
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// but very thin cuboid. In this case the EPA returns an incorrect
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// contact normal, resulting in the cylinder falling through the floor.
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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 = 100.1;
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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 = 1;
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let rad = 1.0;
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let shiftx = rad * 2.0 + rad;
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let shifty = rad * 2.0 + rad;
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let shiftz = rad * 2.0 + rad;
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let centerx = shiftx * (num / 2) as f32;
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let centery = shifty / 2.0;
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let centerz = shiftz * (num / 2) as f32;
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let offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
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let x = -centerx + offset;
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let y = centery + 3.0;
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let z = -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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let collider = ColliderBuilder::cylinder(rad, rad);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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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