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
42 lines
1.3 KiB
Rust
42 lines
1.3 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
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();
|
|
|
|
/*
|
|
* Ground
|
|
*/
|
|
let ground_size = 100.0;
|
|
let ground_height = 0.1;
|
|
|
|
let rigid_body = RigidBodyBuilder::fixed();
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).friction(1.5);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
// Build a dynamic box rigid body.
|
|
let rigid_body = RigidBodyBuilder::dynamic()
|
|
.translation(vector![0.0, 1.1, 0.0])
|
|
.rotation(Vector::y() * 0.3);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
let rigid_body = &mut bodies[handle];
|
|
let force = rigid_body.position() * Vector::z() * 50.0;
|
|
rigid_body.set_linvel(force, true);
|
|
|
|
/*
|
|
* 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());
|
|
}
|