95bd6fcfeb
* feat: switch to the new Bvh from parry for the broad-phase * chore: cargo fmt + update testbed * chore: remove the multi-grid SAP broad-phase * fix soft-ccd handling in broad-phase * Fix contact cleanup in broad-phase after collider removal * chore: clippy fixes * fix CCD regression * chore: update changelog * fix build with the parallel feature enabled * chore: remove the now useless broad-phase proxy index from colliders * fix tests
100 lines
3.4 KiB
Rust
100 lines
3.4 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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let num_levels = 4;
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let stick_len = 2.0;
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let stick_rad = 0.2;
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/*
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* Floor.
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*/
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let floor_body =
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RigidBodyBuilder::fixed().translation(vector![0.0, -stick_len - stick_rad, 0.0]);
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let floor_handle = bodies.insert(floor_body);
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let floor_cube = ColliderBuilder::cuboid(stick_len, stick_len, stick_len);
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colliders.insert_with_parent(floor_cube, floor_handle, &mut bodies);
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/*
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* Create a stack of capsule with a very heavy cube on top.
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*/
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for i in 0..num_levels {
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let fi = i as f32;
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let body = RigidBodyBuilder::dynamic().translation(vector![
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0.0,
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fi * stick_rad * 4.0,
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-(stick_len / 2.0 - stick_rad)
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]);
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let handle = bodies.insert(body);
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let capsule = ColliderBuilder::cuboid(stick_len / 2.0, stick_rad, stick_rad);
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colliders.insert_with_parent(capsule, handle, &mut bodies);
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let body = RigidBodyBuilder::dynamic().translation(vector![
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0.0,
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fi * stick_rad * 4.0,
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(stick_len / 2.0 - stick_rad)
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]);
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let handle = bodies.insert(body);
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let capsule = ColliderBuilder::cuboid(stick_len / 2.0, stick_rad, stick_rad);
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colliders.insert_with_parent(capsule, handle, &mut bodies);
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let body = RigidBodyBuilder::dynamic().translation(vector![
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-(stick_len / 2.0 - stick_rad),
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(fi + 0.5) * stick_rad * 4.0,
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0.0
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]);
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let handle = bodies.insert(body);
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let capsule = ColliderBuilder::cuboid(stick_rad, stick_rad, stick_len / 2.0);
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colliders.insert_with_parent(capsule, handle, &mut bodies);
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let body = RigidBodyBuilder::dynamic().translation(vector![
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(stick_len / 2.0 - stick_rad),
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(fi + 0.5) * stick_rad * 4.0,
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0.0
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]);
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let handle = bodies.insert(body);
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let capsule = ColliderBuilder::cuboid(stick_rad, stick_rad, stick_len / 2.0);
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colliders.insert_with_parent(capsule, handle, &mut bodies);
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}
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/*
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* Big cube on top.
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*/
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let cube_len = stick_len * 2.0;
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let floor_body = RigidBodyBuilder::dynamic()
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.translation(vector![
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0.0,
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cube_len / 2.0 + (num_levels as f32 - 0.25) * stick_rad * 4.0,
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0.0
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])
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.additional_solver_iterations(36);
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let floor_handle = bodies.insert(floor_body);
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let floor_cube = ColliderBuilder::cuboid(cube_len / 2.0, cube_len / 2.0, cube_len / 2.0);
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colliders.insert_with_parent(floor_cube, floor_handle, &mut bodies);
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let small_mass =
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MassProperties::from_cuboid(1.0, vector![stick_rad, stick_rad, stick_len / 2.0]).mass();
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let big_mass =
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MassProperties::from_cuboid(1.0, vector![cube_len / 2.0, cube_len / 2.0, cube_len / 2.0])
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.mass();
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println!(
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"debug_cube_high_mass_ratio3: small stick mass: {small_mass}, big cube mass: {big_mass}, mass_ratio: {}",
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big_mass / small_mass
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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, impulse_joints, multibody_joints);
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testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
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}
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