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
69 lines
2.1 KiB
Rust
69 lines
2.1 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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* Create the balls
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*/
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let num = 30;
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let rad = 1.0;
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let shift = rad * 6.0 + 1.0;
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let centerx = shift * (num as f32) / 2.0;
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let centery = shift * (num as f32) / 2.0;
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let centerz = shift * (num as f32) / 2.0;
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for i in 0..num {
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for j in 0usize..num {
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for k in 0..num {
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let x = i as f32 * shift - centerx;
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let y = j as f32 * shift - centery;
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let z = k as f32 * shift - centerz;
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// Build the rigid body.
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let velocity = Vec3::new(
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rand::random::<f32>() - 0.5,
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rand::random::<f32>() - 0.5,
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rand::random::<f32>() - 0.5,
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) * 30.0;
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let rigid_body = RigidBodyBuilder::new(RigidBodyType::KinematicVelocityBased)
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.translation(Vec3::new(x, y, z))
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.linvel(velocity);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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}
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}
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}
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testbed.add_callback(move |_, physics, _, _| {
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for (_, rb) in physics.bodies.iter_mut() {
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let mut linvel = rb.linvel();
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for dim in 0..3 {
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if (linvel[dim] > 0.0 && rb.translation()[dim] > (shift * num as f32) / 2.0)
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|| (linvel[dim] < 0.0 && rb.translation()[dim] < -(shift * num as f32) / 2.0)
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{
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linvel[dim] = -linvel[dim];
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}
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}
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rb.set_linvel(linvel, false);
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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.look_at(Vec3::new(100.0, 100.0, 100.0), Vec3::ZERO);
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}
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