feat: add urdf example

examples3d/Cargo.toml

@@ -1,23 +1,23 @@
 [package]
-name    = "rapier-examples-3d"
+name = "rapier-examples-3d"
 version = "0.1.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+authors = ["Sébastien Crozet <developer@crozet.re>"]
 edition = "2021"
 default-run = "all_examples3"
 
 [features]
-parallel = [ "rapier3d/parallel", "rapier_testbed3d/parallel" ]
-simd-stable = [ "rapier3d/simd-stable" ]
-simd-nightly = [ "rapier3d/simd-nightly" ]
-other-backends = [ "rapier_testbed3d/other-backends" ]
-enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
+parallel = ["rapier3d/parallel", "rapier_testbed3d/parallel"]
+simd-stable = ["rapier3d/simd-stable"]
+simd-nightly = ["rapier3d/simd-nightly"]
+other-backends = ["rapier_testbed3d/other-backends"]
+enhanced-determinism = ["rapier3d/enhanced-determinism"]
 
 [dependencies]
 rand = "0.8"
-getrandom = { version = "0.2", features = [ "js" ] } 
-Inflector  = "0.11"
+getrandom = { version = "0.2", features = ["js"] }
+Inflector = "0.11"
 wasm-bindgen = "0.2"
-obj-rs = { version =  "0.7", default-features = false }
+obj-rs = { version = "0.7", default-features = false }
 serde = "1"
 bincode = "1"
 
@@ -27,6 +27,9 @@ path = "../crates/rapier_testbed3d"
 [dependencies.rapier3d]
 path = "../crates/rapier3d"
 
+[dependencies.rapier-urdf]
+path = "../crates/rapier-urdf"
+
 [[bin]]
 name = "all_examples3"
 path = "./all_examples3.rs"

examples3d/all_examples3.rs

@@ -55,6 +55,7 @@ mod rope_joints3;
 mod sensor3;
 mod spring_joints3;
 mod trimesh3;
+mod urdf3;
 mod vehicle_controller3;
 mod vehicle_joints3;
 
@@ -119,6 +120,7 @@ pub fn main() {
         ("Sensor", sensor3::init_world),
         ("Spring Joints", spring_joints3::init_world),
         ("TriMesh", trimesh3::init_world),
+        ("Urdf", urdf3::init_world),
         ("Vehicle controller", vehicle_controller3::init_world),
         ("Vehicle joints", vehicle_joints3::init_world),
         ("Keva tower", keva3::init_world),

examples3d/urdf3.rs

@@ -0,0 +1,38 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+use rapier_urdf::{RapierRobot, UrdfLoaderOptions};
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let mut multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let options = UrdfLoaderOptions {
+        create_colliders_from_visual_shapes: true,
+        create_colliders_from_collision_shapes: false,
+        apply_imported_mass_props: true,
+        make_roots_fixed: true,
+        // rigid_body_blueprint: RigidBodyBuilder::dynamic().gravity_scale(0.0),
+        collider_blueprint: ColliderBuilder::ball(0.0)
+            .density(0.0)
+            .active_collision_types(ActiveCollisionTypes::empty()),
+        ..Default::default()
+    };
+    let (mut robot, _) = RapierRobot::from_file("assets/3d/sample.urdf", options).unwrap();
+
+    // robot.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints);
+    robot.insert_using_multibody_joints(&mut bodies, &mut colliders, &mut multibody_joints);
+
+    /*
+     * 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());
+}