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
65 lines
2.2 KiB
Rust
65 lines
2.2 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 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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* Spring joints with a variety of spring parameters.
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* The middle one has uses critical damping.
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*/
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let num = 30;
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let radius = 0.5;
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let mass = Ball::new(radius).mass_properties(1.0).mass();
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let stiffness = 1.0e3;
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let critical_damping = 2.0 * (stiffness * mass).sqrt();
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for i in 0..=num {
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let x_pos = -6.0 + 1.5 * i as f32;
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let ball_pos = point![x_pos, 4.5, 0.0];
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(ball_pos.coords)
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(radius);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let damping_ratio = i as f32 / (num as f32 / 2.0);
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let damping = damping_ratio * critical_damping;
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let joint = SpringJointBuilder::new(0.0, stiffness, damping)
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.local_anchor1(ball_pos - Vector::y() * 3.0);
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impulse_joints.insert(ground_handle, handle, joint, true);
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// Box that will fall on to of the springed balls, makes the simulation funier to watch.
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let rigid_body =
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RigidBodyBuilder::dynamic().translation(ball_pos.coords + Vector::y() * 5.0);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(radius, radius, radius).density(100.0);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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, -9.81, 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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