62 lines
1.9 KiB
Rust
62 lines
1.9 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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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 = 3.0;
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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 ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build();
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let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
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/*
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* Rolling ball
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*/
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let ball_rad = 0.1;
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let rb = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 0.2, 0.0)
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.build();
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let ball_handle = bodies.insert(rb);
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let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
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colliders.insert(collider, ball_handle, &mut bodies);
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testbed.harness_mut().add_callback(move |physics, _, _| {
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// Remove then re-add the ground collider.
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let coll = physics
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.colliders
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.remove(ground_collider_handle, &mut physics.bodies, true)
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.unwrap();
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ground_collider_handle = physics
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.colliders
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.insert(coll, ground_handle, &mut physics.bodies);
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// TODO: need a way to access graphics & window
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// graphics.add_collider(window, ground_collider_handle, &physics.colliders);
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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, joints);
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testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
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}
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fn main() {
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let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
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testbed.run()
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}
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