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
74 lines
2.3 KiB
Rust
74 lines
2.3 KiB
Rust
use rand::distributions::{Distribution, Standard};
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use rand::{SeedableRng, rngs::StdRng};
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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 impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Ground
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*/
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let ground_size = 200.1;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let num = 8;
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let scale = 2.0;
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let rad = 1.0;
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let border_rad = 0.1;
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let shift = border_rad * 2.0 + scale;
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let centerx = shift * (num / 2) as f32;
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let centery = shift / 2.0;
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let centerz = shift * (num / 2) as f32;
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let mut offset = -(num as f32) * shift * 0.5;
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let mut rng = StdRng::seed_from_u64(0);
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let distribution = Standard;
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for j in 0usize..47 {
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for i in 0..num {
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for k in 0usize..num {
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let x = i as f32 * shift - centerx + offset;
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let y = j as f32 * shift + centery + 3.0;
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let z = k as f32 * shift - centerz + offset;
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let mut points = Vec::new();
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for _ in 0..10 {
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let pt: Point<f32> = distribution.sample(&mut rng);
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points.push(pt * scale);
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}
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::round_convex_hull(&points, border_rad).unwrap();
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colliders.insert_with_parent(collider, handle, &mut bodies);
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}
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}
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offset -= 0.05 * rad * (num as f32 - 1.0);
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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![100.0, 100.0, 100.0], Point::origin());
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}
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