73 lines
2.1 KiB
Rust
73 lines
2.1 KiB
Rust
use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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#[derive(serde::Deserialize)]
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struct State {
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pub islands: IslandManager,
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pub broad_phase: BroadPhase,
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pub narrow_phase: NarrowPhase,
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pub bodies: RigidBodySet,
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pub colliders: ColliderSet,
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pub impulse_joints: ImpulseJointSet,
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pub multibody_joints: MultibodyJointSet,
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pub ccd_solver: CCDSolver,
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}
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pub fn init_world(testbed: &mut Testbed) {
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/*
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* Set up the testbed.
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*/
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let bytes = std::fs::read("state.bin").unwrap();
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let mut state: State = bincode::deserialize(&bytes).unwrap();
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for body in state.bodies.iter_mut() {
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dbg!(body.1.position());
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dbg!(body.1.is_ccd_enabled());
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dbg!(body.1.is_sleeping());
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// dbg!(body.1);
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body.1.clear_forces(false);
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}
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let mut to_remove = vec![];
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for (_, co) in state.colliders.iter() {
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if co.shape().as_ball().is_none() {
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if let Some(parent) = co.parent() {
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let body = &state.bodies[parent];
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if body.is_dynamic() {
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to_remove.push(parent);
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}
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}
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}
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}
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// for h in to_remove {
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// state.bodies.remove(
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// h,
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// &mut state.islands,
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// &mut state.colliders,
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// &mut state.impulse_joints,
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// &mut state.multibody_joints,
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// );
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// }
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testbed.set_world(
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state.bodies,
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state.colliders,
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state.impulse_joints,
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state.multibody_joints,
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);
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testbed.harness_mut().physics.islands = state.islands;
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testbed.harness_mut().physics.broad_phase = state.broad_phase;
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testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
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testbed.harness_mut().physics.ccd_solver = state.ccd_solver;
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// testbed.harness_mut().physics.integration_parameters.erp = 0.0;
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// testbed
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// .harness_mut()
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// .physics
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// .integration_parameters
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// .delassus_inv_factor = 1.0;
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testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
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testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
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}
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