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
42 lines
1.3 KiB
Rust
42 lines
1.3 KiB
Rust
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 = 100.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).friction(1.5);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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// Build a dynamic box rigid body.
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(0.0, 1.1, 0.0))
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.rotation(Vector::Y * 0.3);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let rigid_body = &mut bodies[handle];
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let force = rigid_body.rotation() * Vector::Z * 50.0;
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rigid_body.set_linvel(force, true);
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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(100.0, 100.0, 100.0), Vec3::ZERO);
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}
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