95bd6fcfeb
* feat: switch to the new Bvh from parry for the broad-phase * chore: cargo fmt + update testbed * chore: remove the multi-grid SAP broad-phase * fix soft-ccd handling in broad-phase * Fix contact cleanup in broad-phase after collider removal * chore: clippy fixes * fix CCD regression * chore: update changelog * fix build with the parallel feature enabled * chore: remove the now useless broad-phase proxy index from colliders * fix tests
57 lines
2.0 KiB
Rust
57 lines
2.0 KiB
Rust
use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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// This shows a bug when a cylinder is in contact with a very large
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// but very thin cuboid. In this case the EPA returns an incorrect
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// contact normal, resulting in the cylinder falling through the floor.
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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 impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* The ground
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*/
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let ground_size = 5.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* A rectangle that only rotates along the `x` axis.
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*/
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![0.0, 3.0, 0.0])
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.lock_translations()
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.enabled_rotations(true, false, false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* A tilted capsule that cannot rotate.
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*/
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![0.0, 5.0, 0.0])
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.rotation(Vector::x() * 1.0)
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.lock_rotations();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::capsule_y(0.6, 0.4);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let collider = ColliderBuilder::capsule_x(0.6, 0.4);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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, impulse_joints, multibody_joints);
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testbed.look_at(point![10.0, 3.0, 0.0], point![0.0, 3.0, 0.0]);
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}
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