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
40 lines
1.3 KiB
Rust
40 lines
1.3 KiB
Rust
use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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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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// Triangle ground.
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let vtx = [
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point![-10.0, 0.0, -10.0],
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point![10.0, 0.0, -10.0],
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point![0.0, 0.0, 10.0],
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];
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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// Dynamic box rigid body.
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![1.1, 0.01, 0.0])
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// .rotation(Vector3::new(0.8, 0.2, 0.1))
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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(20.0, 0.1, 1.0);
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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, 10.0, 10.0], Point::origin());
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}
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