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
31 lines
1.1 KiB
Rust
31 lines
1.1 KiB
Rust
use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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// Simulate the the Dzhanibekov effect:
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// https://en.wikipedia.org/wiki/Tennis_racket_theorem
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pub fn init_world(testbed: &mut Testbed) {
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let mut colliders = ColliderSet::new();
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let mut bodies = RigidBodySet::new();
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let impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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let shapes = vec![
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(Pose::IDENTITY, SharedShape::cuboid(2.0, 0.2, 0.2)),
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(
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Pose::from_translation(Vector::new(0.0, 0.8, 0.0)),
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SharedShape::cuboid(0.2, 0.4, 0.2),
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),
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];
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let body = RigidBodyBuilder::dynamic()
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.gravity_scale(0.0)
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.angvel(Vector::new(0.0, 20.0, 0.1))
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.gyroscopic_forces_enabled(true);
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let body_handle = bodies.insert(body);
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let collider = ColliderBuilder::compound(shapes);
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colliders.insert_with_parent(collider, body_handle, &mut bodies);
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testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
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testbed.look_at(Vec3::new(8.0, 0.0, 8.0), Vec3::new(0.0, 0.0, 0.0));
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}
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