273 lines
8.3 KiB
Rust
273 lines
8.3 KiB
Rust
use na::{Isometry3, Point3, Unit, Vector3};
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use rapier3d::dynamics::{
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BallJoint, BodyStatus, FixedJoint, JointSet, PrismaticJoint, RevoluteJoint, RigidBodyBuilder,
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RigidBodySet,
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};
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use rapier3d::geometry::{ColliderBuilder, ColliderSet};
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use rapier_testbed3d::Testbed;
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fn create_prismatic_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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joints: &mut JointSet,
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origin: Point3<f32>,
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num: usize,
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) {
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let rad = 0.4;
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let shift = 1.0;
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let ground = RigidBodyBuilder::new_static()
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.translation(origin.x, origin.y, origin.z)
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.build();
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let mut curr_parent = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
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colliders.insert(collider, curr_parent, bodies);
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for i in 0..num {
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let z = origin.z + (i + 1) as f32 * shift;
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let density = 1.0;
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(origin.x, origin.y, z)
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.build();
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let curr_child = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad)
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.density(density)
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.build();
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colliders.insert(collider, curr_child, bodies);
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let axis = if i % 2 == 0 {
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Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
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} else {
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Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
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};
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let z = Vector3::z();
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let mut prism = PrismaticJoint::new(
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Point3::origin(),
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axis,
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z,
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Point3::new(0.0, 0.0, -shift),
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axis,
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z,
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);
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prism.limits_enabled = true;
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prism.limits[0] = -2.0;
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prism.limits[1] = 2.0;
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joints.insert(bodies, curr_parent, curr_child, prism);
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curr_parent = curr_child;
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}
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}
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fn create_revolute_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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joints: &mut JointSet,
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origin: Point3<f32>,
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num: usize,
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) {
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let rad = 0.4;
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let shift = 2.0;
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let ground = RigidBodyBuilder::new_static()
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.translation(origin.x, origin.y, 0.0)
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.build();
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let mut curr_parent = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
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colliders.insert(collider, curr_parent, bodies);
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for i in 0..num {
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// Create four bodies.
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let z = origin.z + i as f32 * shift * 2.0 + shift;
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let positions = [
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Isometry3::translation(origin.x, origin.y, z),
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Isometry3::translation(origin.x + shift, origin.y, z),
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Isometry3::translation(origin.x + shift, origin.y, z + shift),
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Isometry3::translation(origin.x, origin.y, z + shift),
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];
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let mut handles = [curr_parent; 4];
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for k in 0..4 {
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let density = 1.0;
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.position(positions[k])
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.build();
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handles[k] = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad)
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.density(density)
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.build();
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colliders.insert(collider, handles[k], bodies);
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}
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// Setup four joints.
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let o = Point3::origin();
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let x = Vector3::x_axis();
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let z = Vector3::z_axis();
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let revs = [
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RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
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RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
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RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
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RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
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];
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joints.insert(bodies, curr_parent, handles[0], revs[0]);
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joints.insert(bodies, handles[0], handles[1], revs[1]);
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joints.insert(bodies, handles[1], handles[2], revs[2]);
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joints.insert(bodies, handles[2], handles[3], revs[3]);
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curr_parent = handles[3];
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}
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}
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fn create_fixed_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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joints: &mut JointSet,
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origin: Point3<f32>,
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num: usize,
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) {
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let rad = 0.4;
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for k in 0..num {
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for i in 0..num {
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let fk = k as f32;
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let fi = i as f32;
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// NOTE: the num - 2 test is to avoid two consecutive
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// fixed bodies. Because physx will crash if we add
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// a joint between these.
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let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
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BodyStatus::Static
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} else {
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BodyStatus::Dynamic
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};
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let rigid_body = RigidBodyBuilder::new(status)
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.translation(origin.x + fk * shift, origin.y, origin.z + fi * shift)
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.build();
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad).density(1.0).build();
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colliders.insert(collider, child_handle, bodies);
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// Vertical joint.
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if i > 0 {
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let parent_handle = *body_handles.last().unwrap();
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let joint = FixedJoint::new(
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Isometry3::identity(),
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Isometry3::translation(0.0, 0.0, -shift),
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);
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joints.insert(bodies, parent_handle, child_handle, joint);
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}
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// Horizontal joint.
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if k > 0 {
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let parent_index = body_handles.len() - num;
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let parent_handle = body_handles[parent_index];
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let joint = FixedJoint::new(
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Isometry3::identity(),
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Isometry3::translation(-shift, 0.0, 0.0),
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);
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joints.insert(bodies, parent_handle, child_handle, joint);
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}
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body_handles.push(child_handle);
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}
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}
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}
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fn create_ball_joints(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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joints: &mut JointSet,
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num: usize,
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) {
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let rad = 0.4;
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for k in 0..num {
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for i in 0..num {
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let fk = k as f32;
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let fi = i as f32;
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let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
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BodyStatus::Static
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} else {
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BodyStatus::Dynamic
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};
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let rigid_body = RigidBodyBuilder::new(status)
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.translation(fk * shift, 0.0, fi * shift)
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.build();
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad).density(1.0).build();
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colliders.insert(collider, child_handle, bodies);
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// Vertical joint.
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if i > 0 {
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let parent_handle = *body_handles.last().unwrap();
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let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
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joints.insert(bodies, parent_handle, child_handle, joint);
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}
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// Horizontal joint.
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if k > 0 {
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let parent_index = body_handles.len() - num;
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let parent_handle = body_handles[parent_index];
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let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
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joints.insert(bodies, parent_handle, child_handle, joint);
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}
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body_handles.push(child_handle);
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}
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}
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}
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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 mut joints = JointSet::new();
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create_prismatic_joints(
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&mut bodies,
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&mut colliders,
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&mut joints,
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Point3::new(20.0, 10.0, 0.0),
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5,
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);
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create_revolute_joints(
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&mut bodies,
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&mut colliders,
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&mut joints,
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Point3::new(20.0, 0.0, 0.0),
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3,
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);
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create_fixed_joints(
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&mut bodies,
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&mut colliders,
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&mut joints,
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Point3::new(0.0, 10.0, 0.0),
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5,
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);
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create_ball_joints(&mut bodies, &mut colliders, &mut joints, 15);
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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(15.0, 5.0, 42.0), Point3::new(13.0, 1.0, 1.0));
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}
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fn main() {
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let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
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testbed.run()
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}
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