67 lines
2.1 KiB
Rust
67 lines
2.1 KiB
Rust
use na::{Point3, Vector3};
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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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* The ground
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*/
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let ground_size = 5.0;
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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 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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* A rectangle that only rotates along the `x` axis.
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*/
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 3.0, 0.0)
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.lock_translations()
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.principal_inertia(Vector3::zeros(), Vector3::new(true, false, false))
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();
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colliders.insert(collider, handle, &mut bodies);
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/*
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* A capsule that cannot rotate.
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* We initialize it in a tilted position to demonstrate the
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* fact that is cannot rotate.
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*/
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 5.0, 0.0)
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.rotation(Vector3::x() * 1.0)
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.lock_rotations()
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::capsule_y(0.6, 0.4).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(10.0, 3.0, 0.0), Point3::new(0.0, 3.0, 0.0));
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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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