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
105 lines
3.7 KiB
Rust
105 lines
3.7 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 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 = 10.0;
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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 boxes
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*/
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let num = 6;
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let rad = 0.2;
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let shift = rad * 2.0;
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let centerx = shift * num as f32 / 2.0;
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let centerz = shift * num as f32 / 2.0;
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for i in 0usize..num {
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for j in 0usize..num {
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for k in 0usize..num {
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let centery = if j >= num / 2 { 5.0 } else { 3.0 };
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let x = i as f32 * shift - centerx;
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let y = j as f32 * shift + centery;
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let z = k as f32 * shift - centerz;
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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::cuboid(rad, rad, rad);
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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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* Setup a velocity-based kinematic rigid body.
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*/
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let platform_body =
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RigidBodyBuilder::kinematic_velocity_based().translation(Vector::new(0.0, 1.5 + 0.8, 0.0));
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let velocity_based_platform_handle = bodies.insert(platform_body);
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let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
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colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
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/*
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* Setup a position-based kinematic rigid body.
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*/
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let platform_body = RigidBodyBuilder::kinematic_position_based().translation(Vector::new(
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0.0,
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3.0 + 1.5 + 0.8,
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0.0,
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));
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let position_based_platform_handle = bodies.insert(platform_body);
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let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
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colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
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/*
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* Setup a callback to control the platform.
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*/
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testbed.add_callback(move |_, physics, _, run_state| {
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let velocity = Vector::new(
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0.0,
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(run_state.time * 2.0).cos(),
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run_state.time.sin() * 2.0,
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);
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// Update the velocity-based kinematic body by setting its velocity.
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if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
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platform.set_linvel(velocity, true);
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platform.set_angvel(Vector::new(0.0, 1.0, 0.0), true);
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}
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// Update the position-based kinematic body by setting its next position.
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if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
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let next_tra = platform.translation() + (-velocity * physics.integration_parameters.dt);
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let next_rot = platform.rotation();
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let delta_rot = Rotation::from_rotation_y(-0.5 * physics.integration_parameters.dt);
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let next_rot = delta_rot * next_rot;
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platform.set_next_kinematic_translation(next_tra);
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platform.set_next_kinematic_rotation(next_rot);
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}
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});
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/*
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* Run the simulation.
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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(10.0, 5.0, 10.0), Vec3::ZERO);
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}
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