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
37 lines
1.1 KiB
Rust
37 lines
1.1 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
#[derive(serde::Deserialize)]
|
|
struct State {
|
|
pub islands: IslandManager,
|
|
pub broad_phase: DefaultBroadPhase,
|
|
pub narrow_phase: NarrowPhase,
|
|
pub bodies: RigidBodySet,
|
|
pub colliders: ColliderSet,
|
|
pub impulse_joints: ImpulseJointSet,
|
|
pub multibody_joints: MultibodyJointSet,
|
|
pub ccd_solver: CCDSolver,
|
|
}
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
let bytes = std::fs::read("state.bin").unwrap();
|
|
let state: State = bincode::deserialize(&bytes).unwrap();
|
|
|
|
testbed.set_world(
|
|
state.bodies,
|
|
state.colliders,
|
|
state.impulse_joints,
|
|
state.multibody_joints,
|
|
);
|
|
testbed.harness_mut().physics.islands = state.islands;
|
|
testbed.harness_mut().physics.broad_phase = Box::new(state.broad_phase);
|
|
testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
|
|
testbed.harness_mut().physics.ccd_solver = state.ccd_solver;
|
|
|
|
testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
|
|
testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
|
|
}
|