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
81 lines
2.1 KiB
Rust
81 lines
2.1 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
fn create_pyramid(
|
|
bodies: &mut RigidBodySet,
|
|
colliders: &mut ColliderSet,
|
|
offset: Vector<f32>,
|
|
stack_height: usize,
|
|
rad: f32,
|
|
) {
|
|
let shift = rad * 2.0;
|
|
|
|
for i in 0usize..stack_height {
|
|
for j in i..stack_height {
|
|
let fj = j as f32;
|
|
let fi = i as f32;
|
|
let x = (fi * shift / 2.0) + (fj - fi) * shift;
|
|
let y = fi * shift;
|
|
|
|
// Build the rigid body.
|
|
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, 0.0] + offset);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(rad, rad, rad);
|
|
colliders.insert_with_parent(collider, handle, bodies);
|
|
}
|
|
}
|
|
}
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
let rad = 0.5;
|
|
let pyramid_count = 40;
|
|
let spacing = 4.0;
|
|
|
|
/*
|
|
* Ground
|
|
*/
|
|
let ground_size = 50.0;
|
|
let ground_height = 0.1;
|
|
|
|
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
|
|
let ground_handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(
|
|
ground_size,
|
|
ground_height,
|
|
pyramid_count as f32 * spacing / 2.0 + ground_size,
|
|
);
|
|
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
|
|
|
|
/*
|
|
* Create the cubes
|
|
*/
|
|
for pyramid_index in 0..pyramid_count {
|
|
let bottomy = rad;
|
|
create_pyramid(
|
|
&mut bodies,
|
|
&mut colliders,
|
|
vector![
|
|
0.0,
|
|
bottomy,
|
|
(pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing
|
|
],
|
|
20,
|
|
rad,
|
|
);
|
|
}
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
|
|
}
|