78 lines
2.2 KiB
Rust
78 lines
2.2 KiB
Rust
use na::{Isometry3, 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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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 = 20.0;
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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)
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.friction(0.15)
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// .restitution(0.5)
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.build();
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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 rb = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 0.2, 0.0)
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.linvel(10.0, 0.0, 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(0.1).density(100.0).build();
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colliders.insert(collider, ball_handle, &mut bodies);
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let mut linvel = Vector3::zeros();
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let mut angvel = Vector3::zeros();
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let mut pos = Isometry3::identity();
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let mut step = 0;
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let snapped_frame = 51;
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testbed.add_callback(move |_, physics, _, _, _| {
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step += 1;
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let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
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if step == snapped_frame {
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linvel = *ball.linvel();
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angvel = *ball.angvel();
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pos = *ball.position();
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}
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if step == 100 {
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ball.set_linvel(linvel, true);
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ball.set_angvel(angvel, true);
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ball.set_position(pos, true);
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step = snapped_frame;
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}
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let ground = physics.bodies.get_mut(ground_handle).unwrap();
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ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false);
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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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