cf52e01308
# Conflicts: # examples2d/sensor2.rs # examples3d/sensor3.rs # src/dynamics/integration_parameters.rs # src/dynamics/solver/parallel_island_solver.rs # src/dynamics/solver/velocity_constraint.rs # src/dynamics/solver/velocity_ground_constraint.rs # src_testbed/nphysics_backend.rs # src_testbed/physx_backend.rs # src_testbed/testbed.rs
109 lines
3.6 KiB
Rust
109 lines
3.6 KiB
Rust
use na::Point3;
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use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
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use rapier3d::geometry::{ColliderBuilder, ColliderSet};
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use rapier_testbed3d::Testbed;
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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 joints = JointSet::new();
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/*
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* Ground.
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*/
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let ground_size = 200.1;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::new_static()
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.translation(0.0, -ground_height, 0.0)
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.build();
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
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colliders.insert(collider, ground_handle, &mut bodies);
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/*
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* Create some boxes.
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*/
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let num = 10;
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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 k in 0usize..num {
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let x = i as f32 * shift - centerx;
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let y = 3.0;
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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::new_dynamic().translation(x, y, z).build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
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colliders.insert(collider, handle, &mut bodies);
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testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0));
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}
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}
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/*
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* Create a cube that will have a ball-shaped sensor attached.
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*/
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// Rigid body so that the sensor can move.
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let sensor = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 5.0, 0.0)
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.build();
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let sensor_handle = bodies.insert(sensor);
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// Solid cube attached to the sensor which
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// other colliders can touch.
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let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
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colliders.insert(collider, sensor_handle, &mut bodies);
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// We create a collider desc without density because we don't
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// want it to contribute to the rigid body mass.
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let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
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colliders.insert(sensor_collider, sensor_handle, &mut bodies);
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testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
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// Callback that will be executed on the main loop to handle proximities.
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testbed.add_callback(move |_, mut graphics, physics, events, _| {
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while let Ok(prox) = events.intersection_events.try_recv() {
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let color = if prox.intersecting {
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Point3::new(1.0, 1.0, 0.0)
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} else {
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Point3::new(0.5, 0.5, 1.0)
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};
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let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
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let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
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if let Some(graphics) = &mut graphics {
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if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
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graphics.set_body_color(parent_handle1, color);
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}
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if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
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graphics.set_body_color(parent_handle2, color);
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}
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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(bodies, colliders, joints);
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testbed.look_at(Point3::new(-6.0, 4.0, -6.0), Point3::new(0.0, 1.0, 0.0));
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}
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fn main() {
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let testbed = Testbed::from_builders(0, vec![("Sensor", init_world)]);
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testbed.run()
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}
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