dc4bd24da8
* update to parry ~main * use traverse_depth_first * add example to test intersection * rely on upstream PR rather than local * re-enable profiler_ui for examples * rely on official parry repository * chore: switch back to the published version of parry * chore: update changelog * chore: remove dead code * fix compilation of rapier3d-meshloader and rapier3d-urdf * chore: cargo fmt --------- Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
83 lines
2.7 KiB
Rust
83 lines
2.7 KiB
Rust
use rapier3d::na::ComplexField;
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use rapier3d::prelude::*;
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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 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 = vector![200.0, 1.0, 200.0];
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let nsubdivs = 20;
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let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
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if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs {
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10.0
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} else {
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let x = i as f32 * ground_size.x / (nsubdivs as f32);
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let z = j as f32 * ground_size.z / (nsubdivs as f32);
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// NOTE: make sure we use the sin/cos from simba to ensure
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// cross-platform determinism of the example when the
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// enhanced_determinism feature is enabled.
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<f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
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}
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});
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// Here we will build our trimesh from the mesh representation of an
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// heightfield.
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let heightfield = HeightField::new(heights, ground_size);
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let (vertices, indices) = heightfield.to_trimesh();
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let rigid_body = RigidBodyBuilder::fixed();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::trimesh(vertices, indices).unwrap();
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let num = 8;
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let rad = 1.0;
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let shift = rad * 2.0 + rad;
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let centerx = shift * (num / 2) as f32;
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let centery = shift / 2.0;
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let centerz = shift * (num / 2) as f32;
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for j in 0usize..47 {
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for i in 0..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 = j as f32 * shift + centery + 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::dynamic().translation(vector![x, y, z]);
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let handle = bodies.insert(rigid_body);
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if j % 2 == 0 {
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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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} else {
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let collider = ColliderBuilder::ball(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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/*
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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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