dc4bd24da8
* update to parry ~main * use traverse_depth_first * add example to test intersection * rely on upstream PR rather than local * re-enable profiler_ui for examples * rely on official parry repository * chore: switch back to the published version of parry * chore: update changelog * chore: remove dead code * fix compilation of rapier3d-meshloader and rapier3d-urdf * chore: cargo fmt --------- Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
65 lines
2.1 KiB
Rust
65 lines
2.1 KiB
Rust
use rapier2d::prelude::*;
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use rapier_testbed2d::Testbed;
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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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let rad = 1.0;
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let collider = ColliderBuilder::ball(rad);
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let count = 100;
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for x in 0..count {
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for y in 0..count {
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![
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(x as f32 - count as f32 / 2.0) * rad * 3.0,
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(y as f32 - count as f32 / 2.0) * rad * 3.0
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]);
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let handle = bodies.insert(rigid_body);
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colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
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testbed.set_initial_body_color(
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handle,
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[
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x as f32 / count as f32,
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(count - y) as f32 / count as f32,
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0.5,
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],
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);
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}
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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(bodies, colliders, impulse_joints, multibody_joints);
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testbed.look_at(point![0.0, 0.0], 50.0);
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testbed.add_callback(move |graphics, physics, _, run| {
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let slow_time = run.timestep_id as f32 / 3.0;
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let intersection = physics.query_pipeline.intersection_with_shape(
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&physics.bodies,
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&physics.colliders,
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&Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
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&Ball::new(rad / 2.0),
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QueryFilter::default(),
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);
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if let Some(graphics) = graphics {
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for (handle, _) in physics.bodies.iter() {
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graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
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}
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if let Some(intersection) = intersection {
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let collider = physics.colliders.get(intersection).unwrap();
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let body_handle = collider.parent().unwrap();
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graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);
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}
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}
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});
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}
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