80 lines
2.6 KiB
Rust
80 lines
2.6 KiB
Rust
use rapier3d::prelude::*;
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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 impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Fixed ground to attach one end of the joints.
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*/
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let rigid_body = RigidBodyBuilder::fixed();
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let ground_handle = bodies.insert(rigid_body);
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/*
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* A rectangle on a motor with target position.
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*/
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for num in 0..9 {
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let x_pos = -6.0 + 1.5 * num as f32;
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![x_pos, 2.0, 0.0])
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let joint = RevoluteJointBuilder::new(Vector::z_axis())
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.local_anchor1(point![x_pos, 1.5, 0.0])
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.local_anchor2(point![0.0, -0.5, 0.0])
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.motor_position(
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-std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
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1000.0,
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150.0,
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);
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impulse_joints.insert(ground_handle, handle, joint, true);
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}
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/*
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* A rectangle on a motor with limits.
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*/
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for num in 0..8 {
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let x_pos = -6.0 + 1.5 * num as f32;
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![x_pos, 4.5, 0.0])
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.rotation(vector![0.0, 0.0, std::f32::consts::PI])
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let joint = RevoluteJointBuilder::new(Vector::z_axis())
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.local_anchor1(point![x_pos, 5.0, 0.0])
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.local_anchor2(point![0.0, -0.5, 0.0])
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.motor_velocity(1.5, 30.0)
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.motor_max_force(100.0)
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.limits([
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-std::f32::consts::PI,
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-std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
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]);
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impulse_joints.insert(ground_handle, handle, joint, true);
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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_with_params(
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bodies,
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colliders,
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impulse_joints,
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multibody_joints,
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vector![0.0, 0.0, 0.0],
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(),
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);
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testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
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}
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