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
89 lines
3.0 KiB
Rust
89 lines
3.0 KiB
Rust
use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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const MAX_NUMBER_OF_BODIES: usize = 400;
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pub fn init_world(testbed: &mut Testbed) {
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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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let rad = 0.5;
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/*
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* Ground
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*/
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let ground_size = 40.0;
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let ground_height = 2.1; // 16.0;
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for k in 0..3 {
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let rigid_body =
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RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height - k as f32, 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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// Callback that will be executed on the main loop to handle proximities.
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testbed.add_callback(move |mut graphics, physics, _, run_state| {
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let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(0.0, 10.0, 0.0));
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let handle = physics.bodies.insert(rigid_body);
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let collider = match run_state.timestep_id % 3 {
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0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
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1 => ColliderBuilder::cone(rad, rad),
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_ => ColliderBuilder::cuboid(rad, rad, rad),
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};
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physics
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.colliders
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.insert_with_parent(collider, handle, &mut physics.bodies);
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if let Some(graphics) = &mut graphics {
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graphics.add_body(handle, &physics.bodies, &physics.colliders);
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}
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if physics.bodies.len() > MAX_NUMBER_OF_BODIES {
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let mut to_remove: Vec<(RigidBodyHandle, Vector)> = physics
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.bodies
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.iter()
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.filter(|e| e.1.is_dynamic())
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.map(|e| (e.0, e.1.translation()))
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.collect();
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to_remove.sort_by(|a, b| {
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(a.1.x.abs() + a.1.z.abs())
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.partial_cmp(&(b.1.x.abs() + b.1.z.abs()))
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.unwrap()
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.reverse()
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});
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let num_to_remove = to_remove.len().saturating_sub(MAX_NUMBER_OF_BODIES);
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for (handle, _) in &to_remove[..num_to_remove] {
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physics.bodies.remove(
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*handle,
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&mut physics.islands,
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&mut physics.colliders,
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&mut physics.impulse_joints,
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&mut physics.multibody_joints,
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true,
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);
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if let Some(graphics) = &mut graphics {
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graphics.remove_body(*handle);
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}
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}
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}
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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
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// .physics_state_mut()
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// .integration_parameters
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// .erp = 0.2;
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testbed.look_at(Vec3::new(30.0, 4.0, 30.0), Vec3::new(0.0, 1.0, 0.0));
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}
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