93 lines
3.2 KiB
Rust
93 lines
3.2 KiB
Rust
use na::{Isometry3, Point3};
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use rapier3d::dynamics::{BodyStatus, FixedJoint, 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 mut joints = JointSet::new();
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let rad = 0.4;
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let num = 5;
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for m in 0..10 {
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let z = m as f32 * shift * (num as f32 + 2.0);
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for l in 0..10 {
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let y = l as f32 * shift * 3.0;
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for j in 0..5 {
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let x = j as f32 * shift * (num as f32) * 2.0;
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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(x + fk * shift, y, 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, &mut 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(&mut 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(&mut 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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}
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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(
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Point3::new(-38.0, 14.0, 108.0),
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Point3::new(46.0, 12.0, 23.0),
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);
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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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