57 lines
1.8 KiB
Rust
57 lines
1.8 KiB
Rust
use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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// This shows a bug when a cylinder is in contact with a very large
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// but very thin cuboid. In this case the EPA returns an incorrect
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// contact normal, resulting in the cylinder falling through the floor.
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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 vertices = vec![
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// point![-50.0, 0.0, -50.0],
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// point![-50.0, 0.0, 50.0],
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// point![50.0, 0.0, 50.0],
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// point![50.0, 0.0, -50.0],
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// ];
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// let indices = vec![[0, 1, 2], [0, 2, 3]];
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//
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// let collider = ColliderBuilder::trimesh_with_flags(vertices, indices, TriMeshFlags::all());
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// colliders.insert(collider);
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let heights = DMatrix::repeat(2, 2, 0.0);
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let collider = ColliderBuilder::heightfield_with_flags(
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heights,
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Vector::new(50.0, 1.0, 50.0),
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HeightFieldFlags::FIX_INTERNAL_EDGES,
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);
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colliders.insert(collider);
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/*
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* Create the cubes
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*/
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![0.0, 5.0, 0.0])
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.rotation(vector![0.5, 0.0, 0.5])
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.linvel(vector![0.0, -100.0, 0.0])
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.soft_ccd_prediction(10.0);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(5.0, 0.015, 5.0);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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, impulse_joints, multibody_joints);
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testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
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}
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