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
76 lines
2.3 KiB
Rust
76 lines
2.3 KiB
Rust
use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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fn create_pyramid(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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offset: Vector<f32>,
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stack_height: usize,
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half_extents: Vector<f32>,
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) {
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let shift = half_extents * 2.5;
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for i in 0usize..stack_height {
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for j in i..stack_height {
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for k in i..stack_height {
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let fi = i as f32;
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let fj = j as f32;
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let fk = k as f32;
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let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x
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- stack_height as f32 * half_extents.x;
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let y = fi * shift.y + offset.y;
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let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
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- stack_height as f32 * half_extents.z;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
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let rigid_body_handle = bodies.insert(rigid_body);
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let collider =
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ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
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colliders.insert_with_parent(collider, rigid_body_handle, bodies);
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}
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}
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}
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}
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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 = 50.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
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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);
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let cube_size = 1.0;
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let hext = Vector::repeat(cube_size);
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let bottomy = cube_size;
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create_pyramid(
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&mut bodies,
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&mut colliders,
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vector![0.0, bottomy, 0.0],
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24,
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hext,
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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![100.0, 100.0, 100.0], Point::origin());
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}
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