rapier/examples3d/vehicle_controller3.rs

use rapier3d::control::{DynamicRayCastVehicleController, WheelTuning};
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;

pub fn init_world(testbed: &mut Testbed) {
    /*
     * World
     */
    let mut bodies = RigidBodySet::new();
    let mut colliders = ColliderSet::new();
    let mut impulse_joints = ImpulseJointSet::new();
    let multibody_joints = MultibodyJointSet::new();

    /*
     * Ground
     */
    let ground_size = 5.0;
    let ground_height = 0.1;

    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
    let floor_handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
    colliders.insert_with_parent(collider, floor_handle, &mut bodies);

    /*
     * Vehicle we will control manually.
     */
    let hw = 0.3;
    let hh = 0.15;
    let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 1.0, 0.0]);
    let vehicle_handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(hw, hh, hw);
    colliders.insert_with_parent(collider, vehicle_handle, &mut bodies);

    let mut tuning = WheelTuning::default();
    tuning.suspension_stiffness = 100.0;
    tuning.suspension_damping = 10.0;
    let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
    let wheel_positions = [
        point![hw, -hh, hw],
        point![hw, -hh, -hw],
        point![-hw, -hh, hw],
        point![-hw, -hh, -hw],
    ];

    for pos in wheel_positions {
        vehicle.add_wheel(pos, -Vector::y(), Vector::z(), hh, hh / 4.0, &tuning);
    }

    /*
     * Create the cubes
     */
    let num = 8;
    let rad = 0.1;

    let shift = rad * 2.0;
    let centerx = shift * (num / 2) as f32;
    let centery = rad;

    for j in 0usize..4 {
        for k in 0usize..4 {
            for i in 0..num {
                let x = i as f32 * shift - centerx;
                let y = j as f32 * shift + centery;
                let z = k as f32 * shift + centerx;

                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                let handle = bodies.insert(rigid_body);
                let collider = ColliderBuilder::cuboid(rad, rad, rad);
                colliders.insert_with_parent(collider, handle, &mut bodies);
            }
        }
    }

    /*
     * Create some stairs.
     */
    let stair_width = 1.0;
    let stair_height = 0.1;
    for i in 0..10 {
        let x = i as f32 * stair_width / 2.0;
        let y = i as f32 * stair_height * 1.5 + 3.0;

        let collider = ColliderBuilder::cuboid(stair_width / 2.0, stair_height / 2.0, stair_width)
            .translation(vector![x, y, 0.0]);
        colliders.insert(collider);
    }

    /*
     * Create a slope we can climb.
     */
    let slope_angle = 0.2;
    let slope_size = 2.0;
    let collider = ColliderBuilder::cuboid(slope_size, ground_height, slope_size)
        .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
        .rotation(Vector::z() * slope_angle);
    colliders.insert(collider);

    /*
     * Create a slope we can’t climb.
     */
    let impossible_slope_angle = 0.9;
    let impossible_slope_size = 2.0;
    let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
        .translation(vector![
            ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
            -ground_height + 2.3,
            0.0
        ])
        .rotation(Vector::z() * impossible_slope_angle);
    colliders.insert(collider);

    /*
     * Create a moving platform.
     */
    let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]);
    // .rotation(-0.3);
    let platform_handle = bodies.insert(body);
    let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0);
    colliders.insert_with_parent(collider, platform_handle, &mut bodies);

    /*
     * More complex ground.
     */
    let ground_size = Vector::new(10.0, 1.0, 10.0);
    let nsubdivs = 20;

    let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
        (i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos()
            + (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
    });

    let collider =
        ColliderBuilder::heightfield(heights, ground_size).translation(vector![-8.0, 5.0, 0.0]);
    colliders.insert(collider);

    /*
     * A tilting dynamic body with a limited joint.
     */
    let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]);
    let ground_handle = bodies.insert(ground);
    let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
    let handle = bodies.insert(body);
    let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0);
    colliders.insert_with_parent(collider, handle, &mut bodies);
    let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]);
    impulse_joints.insert(ground_handle, handle, joint, true);

    /*
     * Setup a callback to move the platform.
     */
    testbed.add_callback(move |_, physics, _, run_state| {
        let linvel = vector![
            (run_state.time * 2.0).sin() * 2.0,
            (run_state.time * 5.0).sin() * 1.5,
            0.0
        ];
        // let angvel = run_state.time.sin() * 0.5;

        // Update the velocity-based kinematic body by setting its velocity.
        if let Some(platform) = physics.bodies.get_mut(platform_handle) {
            platform.set_linvel(linvel, true);
            // NOTE: interaction with rotating platforms isn’t handled very well yet.
            // platform.set_angvel(angvel, true);
        }
    });

    /*
     * Set up the testbed.
     */
    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
    testbed.set_vehicle_controller(vehicle);
    testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
}