First public release of Rapier.

examples3d/sensor3.rs

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+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, Proximity};
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground.
+     */
+    let ground_size = 200.1;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create some boxes.
+     */
+    let num = 10;
+    let rad = 0.2;
+
+    let shift = rad * 2.0;
+    let centerx = shift * num as f32 / 2.0;
+    let centerz = shift * num as f32 / 2.0;
+
+    for i in 0usize..num {
+        for k in 0usize..num {
+            let x = i as f32 * shift - centerx;
+            let y = 3.0;
+            let z = k as f32 * shift - centerz;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+            colliders.insert(collider, handle, &mut bodies);
+
+            testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0));
+        }
+    }
+
+    /*
+     * Create a cube that will have a ball-shaped sensor attached.
+     */
+
+    // Rigid body so that the sensor can move.
+    let sensor = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 10.0, 0.0)
+        .build();
+    let sensor_handle = bodies.insert(sensor);
+
+    // Solid cube attached to the sensor which
+    // other colliders can touch.
+    let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+    colliders.insert(collider, sensor_handle, &mut bodies);
+
+    // We create a collider desc without density because we don't
+    // want it to contribute to the rigid body mass.
+    let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
+    colliders.insert(sensor_collider, sensor_handle, &mut bodies);
+
+    testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
+
+    // Callback that will be executed on the main loop to handle proximities.
+    testbed.add_callback(move |_, colliders, events, graphics, _| {
+        while let Ok(prox) = events.proximity_events.try_recv() {
+            let color = match prox.new_status {
+                Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
+                Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0),
+            };
+
+            let parent_handle1 = colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle2 = colliders.get(prox.collider2).unwrap().parent();
+
+            if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
+                graphics.set_body_color(parent_handle1, color);
+            }
+            if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
+                graphics.set_body_color(parent_handle2, color);
+            }
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(-6.0, 4.0, -6.0), Point3::new(0.0, 1.0, 0.0));
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Sensor", init_world)]);
+    testbed.run()
+}