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
92 lines
3.2 KiB
Rust
92 lines
3.2 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 mut impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Fixed ground to attach one end of the joints.
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*/
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let rigid_body = RigidBodyBuilder::fixed();
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let ground_handle = bodies.insert(rigid_body);
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let mut target_angles = vec![];
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/*
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* A rectangle on a motor with target position.
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*/
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for num in 0..9 {
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let x_pos = -6.0 + 1.5 * num as f32;
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(x_pos, 2.0, 0.0))
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let target_angle = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32;
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let joint = RevoluteJointBuilder::new(Vector::Z)
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.local_anchor1(Vector::new(x_pos, 1.5, 0.0))
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.local_anchor2(Vector::new(0.0, -0.5, 0.0))
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.motor_position(target_angle, 1000.0, 150.0);
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impulse_joints.insert(ground_handle, handle, joint, true);
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target_angles.push(target_angle);
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}
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/*
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* A rectangle on a motor with limits.
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*/
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for num in 0..8 {
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let x_pos = -6.0 + 1.5 * num as f32;
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(x_pos, 4.5, 0.0))
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.rotation(Vector::new(0.0, 0.0, std::f32::consts::PI))
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let max_angle_limit = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32;
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let joint = RevoluteJointBuilder::new(Vector::Z)
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.local_anchor1(Vector::new(x_pos, 5.0, 0.0))
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.local_anchor2(Vector::new(0.0, -0.5, 0.0))
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.motor_velocity(1.5, 30.0)
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.motor_max_force(100.0)
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.limits([-std::f32::consts::PI, max_angle_limit]);
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impulse_joints.insert(ground_handle, handle, joint, true);
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target_angles.push(max_angle_limit);
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}
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testbed.add_callback(move |_, physics, _, state| {
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for ((_, joint), target) in physics.impulse_joints.iter().zip(target_angles.iter()) {
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let rb1 = &physics.bodies[joint.body1];
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let rb2 = &physics.bodies[joint.body2];
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let revolute = joint.data.as_revolute().unwrap();
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println!(
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"[Step {}] rev angle: {} (target = {})",
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state.timestep_id,
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revolute.angle(rb1.rotation(), rb2.rotation()),
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target
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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_with_params(
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bodies,
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colliders,
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impulse_joints,
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multibody_joints,
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Vector::new(0.0, 0.0, 0.0),
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(),
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);
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testbed.look_at(Vec3::new(15.0, 5.0, 42.0), Vec3::new(13.0, 1.0, 1.0));
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}
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