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
69 lines
2.1 KiB
Rust
69 lines
2.1 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
/*
|
|
* Create the balls
|
|
*/
|
|
let num = 30;
|
|
let rad = 1.0;
|
|
|
|
let shift = rad * 6.0 + 1.0;
|
|
let centerx = shift * (num as f32) / 2.0;
|
|
let centery = shift * (num as f32) / 2.0;
|
|
let centerz = shift * (num as f32) / 2.0;
|
|
|
|
for i in 0..num {
|
|
for j in 0usize..num {
|
|
for k in 0..num {
|
|
let x = i as f32 * shift - centerx;
|
|
let y = j as f32 * shift - centery;
|
|
let z = k as f32 * shift - centerz;
|
|
|
|
// Build the rigid body.
|
|
let velocity = Vector::new(
|
|
rand::random::<f32>() - 0.5,
|
|
rand::random::<f32>() - 0.5,
|
|
rand::random::<f32>() - 0.5,
|
|
) * 30.0;
|
|
let rigid_body = RigidBodyBuilder::new(RigidBodyType::KinematicVelocityBased)
|
|
.translation(vector![x, y, z])
|
|
.linvel(velocity);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::ball(rad);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
}
|
|
}
|
|
}
|
|
|
|
testbed.add_callback(move |_, physics, _, _| {
|
|
for (_, rb) in physics.bodies.iter_mut() {
|
|
let mut linvel = *rb.linvel();
|
|
|
|
for dim in 0..3 {
|
|
if (linvel[dim] > 0.0 && rb.translation()[dim] > (shift * num as f32) / 2.0)
|
|
|| (linvel[dim] < 0.0 && rb.translation()[dim] < -(shift * num as f32) / 2.0)
|
|
{
|
|
linvel[dim] = -linvel[dim];
|
|
}
|
|
}
|
|
|
|
rb.set_linvel(linvel, false);
|
|
}
|
|
});
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
|
|
}
|