61 lines
1.8 KiB
Rust
61 lines
1.8 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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// 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 joints = JointSet::new();
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/*
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* Ground
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*/
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let ground_size = 100.1;
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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 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, handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let num = 1;
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let rad = 1.0;
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let shiftx = rad * 2.0 + rad;
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let shifty = rad * 2.0 + rad;
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let shiftz = rad * 2.0 + rad;
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let centerx = shiftx * (num / 2) as f32;
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let centery = shifty / 2.0;
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let centerz = shiftz * (num / 2) as f32;
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let offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
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let x = -centerx + offset;
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let y = centery + 3.0;
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let z = -centerz + offset;
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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::cylinder(rad, rad).build();
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colliders.insert(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, joints);
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testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
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}
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