0b7c3b34ec
* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy * chore: update changelog * Fix warnings and tests * Release v0.32.0
45 lines
1.5 KiB
Rust
45 lines
1.5 KiB
Rust
use rapier3d::prelude::*;
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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 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 = 100.1;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(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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// Build the dynamic box rigid body.
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let (mut vtx, idx) = Cuboid::new(Vector::new(1.0, 1.0, 1.0)).to_trimesh();
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vtx.iter_mut()
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.for_each(|pt| *pt += Vector::new(100.0, 100.0, 100.0));
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let shape = SharedShape::convex_mesh(vtx, &idx).unwrap();
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for _ in 0..2 {
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(-100.0, -100.0 + 10.0, -100.0))
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::new(shape.clone());
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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(Vec3::new(10.0, 10.0, 10.0), Vec3::ZERO);
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}
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