104 lines
2.9 KiB
Rust
104 lines
2.9 KiB
Rust
use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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fn prismatic_repro(
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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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box_center: Point<f32>,
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) {
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let box_rb = bodies.insert(
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RigidBodyBuilder::new_dynamic()
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.translation(vector![box_center.x, box_center.y, box_center.z])
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.build(),
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);
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colliders.insert_with_parent(
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ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
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box_rb,
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bodies,
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);
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let wheel_y = -1.0;
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let wheel_positions = vec![
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vector![1.0, wheel_y, -1.0],
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vector![-1.0, wheel_y, -1.0],
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vector![1.0, wheel_y, 1.0],
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vector![-1.0, wheel_y, 1.0],
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];
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for pos in wheel_positions {
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let wheel_pos_in_world = box_center + pos;
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let wheel_rb = bodies.insert(
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RigidBodyBuilder::new_dynamic()
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.translation(vector![
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wheel_pos_in_world.x,
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wheel_pos_in_world.y,
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wheel_pos_in_world.z
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])
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.build(),
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);
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colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
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let mut prismatic = rapier3d::dynamics::PrismaticJoint::new(
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point![pos.x, pos.y, pos.z],
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Vector::y_axis(),
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Vector::zeros(),
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Point::origin(),
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Vector::y_axis(),
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Vector::default(),
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);
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prismatic.configure_motor_model(rapier3d::dynamics::SpringModel::VelocityBased);
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let (stiffness, damping) = (0.05, 0.2);
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prismatic.configure_motor_position(0.0, stiffness, damping);
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joints.insert(box_rb, wheel_rb, prismatic);
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}
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// put a small box under one of the wheels
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let gravel = bodies.insert(
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RigidBodyBuilder::new_dynamic()
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.translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
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.build(),
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);
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colliders.insert_with_parent(
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ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
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gravel,
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bodies,
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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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/*
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* Ground
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*/
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let ground_size = 50.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::new_static()
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.translation(vector![0.0, -ground_height, 0.0])
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
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colliders.insert_with_parent(collider, handle, &mut bodies);
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prismatic_repro(
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&mut bodies,
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&mut colliders,
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&mut joints,
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point![0.0, 5.0, 0.0],
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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(point![10.0, 10.0, 10.0], Point::origin());
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}
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