49 lines
1.6 KiB
Rust
49 lines
1.6 KiB
Rust
use rapier3d::prelude::*;
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use rapier3d_urdf::{UrdfLoaderOptions, UrdfMultibodyOptions, UrdfRobot};
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use rapier_testbed3d::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 mut impulse_joints = ImpulseJointSet::new();
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let mut multibody_joints = MultibodyJointSet::new();
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/*
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* Ground
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*/
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let options = UrdfLoaderOptions {
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create_colliders_from_visual_shapes: true,
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create_colliders_from_collision_shapes: false,
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make_roots_fixed: true,
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// Z-up to Y-up.
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shift: Isometry::rotation(Vector::x() * std::f32::consts::FRAC_PI_2),
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..Default::default()
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};
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let (mut robot, _) =
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UrdfRobot::from_file("assets/3d/T12/urdf/T12.URDF", options, None).unwrap();
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// The robot can be inserted using impulse joints.
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// (We clone because we want to insert the same robot once more afterward.)
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robot
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.clone()
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.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints);
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// Insert the robot a second time, but using multibody joints this time.
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robot.append_transform(&Isometry::translation(10.0, 0.0, 0.0));
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robot.insert_using_multibody_joints(
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&mut bodies,
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&mut colliders,
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&mut multibody_joints,
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UrdfMultibodyOptions::DISABLE_SELF_CONTACTS,
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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![20.0, 20.0, 20.0], point![5.0, 0.0, 0.0]);
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}
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