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
33 lines
1.4 KiB
Rust
33 lines
1.4 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let impulse_joints = ImpulseJointSet::new();
|
|
let mut multibody_joints = MultibodyJointSet::new();
|
|
|
|
let ground = RigidBodyBuilder::fixed().translation(Vector::new(0.0, 0.0, 0.0));
|
|
let body = bodies.insert(ground);
|
|
let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0);
|
|
colliders.insert_with_parent(collider, body, &mut bodies);
|
|
|
|
let rigid_body =
|
|
RigidBodyBuilder::dynamic().pose(Pose::from_translation(Vector::new(0.0, 1.0, 0.0)));
|
|
let body_part = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0).density(1.0);
|
|
colliders.insert_with_parent(collider, body_part, &mut bodies);
|
|
|
|
let joint = SphericalJointBuilder::new()
|
|
.local_anchor1(Vector::new(0.0, 4.0, 0.0))
|
|
.local_anchor2(Vector::new(0.0, 0.0, 0.0))
|
|
.motor_position(JointAxis::AngX, 1.0, 1000.0, 200.0)
|
|
.motor_position(JointAxis::AngY, 0.0, 1000.0, 200.0)
|
|
.motor_position(JointAxis::AngZ, 0.0, 1000.0, 200.0);
|
|
|
|
multibody_joints.insert(body, body_part, joint, true);
|
|
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(Vec3::new(20.0, 0.0, 0.0), Vec3::new(0.0, 0.0, 0.0));
|
|
}
|