95bd6fcfeb
* feat: switch to the new Bvh from parry for the broad-phase * chore: cargo fmt + update testbed * chore: remove the multi-grid SAP broad-phase * fix soft-ccd handling in broad-phase * Fix contact cleanup in broad-phase after collider removal * chore: clippy fixes * fix CCD regression * chore: update changelog * fix build with the parallel feature enabled * chore: remove the now useless broad-phase proxy index from colliders * fix tests
116 lines
3.7 KiB
Rust
116 lines
3.7 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 = 20.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
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.friction(0.15)
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// .restitution(0.5)
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;
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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/*
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* Rolling ball
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*/
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let ball_rad = 0.1;
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let rb = RigidBodyBuilder::dynamic()
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.translation(vector![0.0, 0.2, 0.0])
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.linvel(vector![10.0, 0.0, 0.0]);
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let ball_handle = bodies.insert(rb);
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let collider = ColliderBuilder::ball(ball_rad).density(100.0);
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colliders.insert_with_parent(collider, ball_handle, &mut bodies);
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let mut linvel = Vector::zeros();
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let mut angvel = Vector::zeros();
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let mut pos = Isometry::identity();
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let mut step = 0;
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let mut extra_colliders = Vec::new();
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let snapped_frame = 51;
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testbed.add_callback(move |mut graphics, physics, _, _| {
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step += 1;
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// Add a bigger ball collider
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let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)).density(100.0);
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let new_ball_collider_handle =
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physics
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.colliders
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.insert_with_parent(collider, ball_handle, &mut physics.bodies);
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if let Some(graphics) = &mut graphics {
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graphics.add_collider(new_ball_collider_handle, &physics.colliders);
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}
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extra_colliders.push(new_ball_collider_handle);
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// Snap the ball velocity or restore it.
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let ball = physics.bodies.get_mut(ball_handle).unwrap();
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if step == snapped_frame {
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linvel = *ball.linvel();
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angvel = *ball.angvel();
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pos = *ball.position();
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}
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if step == 100 {
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ball.set_linvel(linvel, true);
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ball.set_angvel(angvel, true);
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ball.set_position(pos, true);
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step = snapped_frame;
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for handle in &extra_colliders {
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if let Some(graphics) = &mut graphics {
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graphics.remove_collider(*handle, &physics.colliders);
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}
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physics
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.colliders
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.remove(*handle, &mut physics.islands, &mut physics.bodies, true);
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}
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extra_colliders.clear();
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}
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// Remove then re-add the ground collider.
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// let ground = physics.bodies.get_mut(ground_handle).unwrap();
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// ground.set_position(Isometry::translation(0.0, step as f32 * 0.001, 0.0), false);
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// let coll = physics
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// .colliders
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// .remove(ground_collider_handle, &mut physics.bodies, true)
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// .unwrap();
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let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
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.friction(0.15);
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let new_ground_collider_handle =
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physics
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.colliders
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.insert_with_parent(coll, ground_handle, &mut physics.bodies);
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if let Some(graphics) = &mut graphics {
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graphics.add_collider(new_ground_collider_handle, &physics.colliders);
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}
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extra_colliders.push(new_ground_collider_handle);
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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(point![10.0, 10.0, 10.0], Point::origin());
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}
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