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
72 lines
2.3 KiB
Rust
72 lines
2.3 KiB
Rust
use rapier_testbed2d::Testbed;
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use rapier2d::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 rad = 1.0;
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let collider = ColliderBuilder::ball(rad);
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let count = 100;
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for x in 0..count {
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for y in 0..count {
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![
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(x as f32 - count as f32 / 2.0) * rad * 3.0,
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(y as f32 - count as f32 / 2.0) * rad * 3.0
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]);
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let handle = bodies.insert(rigid_body);
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colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
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testbed.set_initial_body_color(
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handle,
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[
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x as f32 / count as f32,
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(count - y) as f32 / count as f32,
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0.5,
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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![0.0, 0.0], 50.0);
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testbed.add_callback(move |mut graphics, physics, _, run| {
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let slow_time = run.timestep_id as f32 / 3.0;
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let Some(broad_phase) = physics.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
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return;
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};
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let query_pipeline = broad_phase.as_query_pipeline(
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physics.narrow_phase.query_dispatcher(),
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&physics.bodies,
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&physics.colliders,
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QueryFilter::default(),
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);
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for intersection in query_pipeline.intersect_shape(
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&Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
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&Ball::new(rad / 2.0),
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) {
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if let Some(graphics) = graphics.as_deref_mut() {
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for (handle, _) in physics.bodies.iter() {
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graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
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}
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let collider = physics.colliders.get(intersection.0).unwrap();
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let body_handle = collider.parent().unwrap();
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graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);
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}
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}
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});
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}
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