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
46 lines
1.3 KiB
Rust
46 lines
1.3 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let mut impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
let radius = 0.5;
|
|
let length = 10.0 * radius;
|
|
let rb = RigidBodyBuilder::dynamic();
|
|
let co = ColliderBuilder::ball(radius).restitution(1.0);
|
|
|
|
let n = 5;
|
|
|
|
for i in 0..n {
|
|
let (ball_pos, attach) = (
|
|
Vector::new(i as Real * 2.2 * radius, 0.0, 0.0),
|
|
Vector::Y * length,
|
|
);
|
|
let vel = if i >= n - 1 {
|
|
Vector::new(7.0, 0.0, 0.0)
|
|
} else {
|
|
Vector::ZERO
|
|
};
|
|
|
|
let ground = bodies.insert(RigidBodyBuilder::fixed().translation(ball_pos + attach));
|
|
let rb = rb.clone().translation(ball_pos).linvel(vel);
|
|
let handle = bodies.insert(rb);
|
|
colliders.insert_with_parent(co.clone(), handle, &mut bodies);
|
|
|
|
let joint = SphericalJointBuilder::new().local_anchor2(attach);
|
|
impulse_joints.insert(ground, handle, joint, true);
|
|
}
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(Vec3::new(10.0, 10.0, 10.0), Vec3::ZERO);
|
|
}
|