113 lines
3.6 KiB
Rust
113 lines
3.6 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 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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.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(ball_rad).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 mut extra_colliders = Vec::new();
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let snapped_frame = 51;
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testbed.add_callback(move |window, physics, _, graphics, _| {
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step += 1;
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// Add a bigger ball collider
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let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32))
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.density(100.0)
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.build();
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let new_ball_collider_handle =
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physics
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.colliders
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.insert(collider, ball_handle, &mut physics.bodies);
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graphics.add_collider(window, new_ball_collider_handle, &physics.colliders);
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extra_colliders.push(new_ball_collider_handle);
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// Snap the ball velocity or restore it.
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let 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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for handle in &extra_colliders {
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physics.colliders.remove(*handle, &mut physics.bodies, true);
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}
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extra_colliders.clear();
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}
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// Remove then re-add the ground collider.
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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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// 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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let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
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.friction(0.15)
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.build();
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let new_ground_collider_handle =
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physics
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.colliders
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.insert(coll, ground_handle, &mut physics.bodies);
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graphics.add_collider(window, new_ground_collider_handle, &physics.colliders);
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extra_colliders.push(new_ground_collider_handle);
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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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