0703e5527f
- Fix the wrong codepath taken by the solver for contacts involving a collider without parent. - Properly adress the non-linear treatment of the friction direction - Simplify the sleeping strategy - Add an impulse resolution multiplier
97 lines
3.2 KiB
Rust
97 lines
3.2 KiB
Rust
use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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fn create_ball_articulations(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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impulse_joints: &mut ImpulseJointSet,
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multibody_joints: &mut MultibodyJointSet,
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num: usize,
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) {
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let rad = 0.4;
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for k in 0..num {
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for i in 0..num {
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let fk = k as f32;
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let fi = i as f32;
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let status = if i == 0 {
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// && (k % 4 == 0 || k == num - 1) {
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RigidBodyType::Static
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} else {
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RigidBodyType::Dynamic
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};
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let rigid_body = RigidBodyBuilder::new(status)
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.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
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.build();
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
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colliders.insert_with_parent(collider, child_handle, bodies);
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// Vertical multibody_joint.
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if i > 0 {
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let parent_handle = *body_handles.last().unwrap();
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let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
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multibody_joints.insert(parent_handle, child_handle, joint);
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}
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// Horizontal multibody_joint.
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if k > 0 && i > 0 {
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let parent_index = body_handles.len() - num;
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let parent_handle = body_handles[parent_index];
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let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
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// let joint =
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// PrismaticJoint::new(Vector::y_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
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// let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
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// let joint =
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// RevoluteJoint::new(Vector::x_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
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impulse_joints.insert(parent_handle, child_handle, joint);
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}
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body_handles.push(child_handle);
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}
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}
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}
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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 mut impulse_joints = ImpulseJointSet::new();
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let mut multibody_joints = MultibodyJointSet::new();
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let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
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.translation(vector![0.0, -3.02, 0.0])
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.rotation(vector![0.1, 0.0, 0.1])
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.build();
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colliders.insert(collider);
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let rigid_body = RigidBodyBuilder::new_dynamic().build();
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let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
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.translation(vector![0.0, -3.0, 0.0])
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.rotation(vector![0.1, 0.0, 0.1])
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.build();
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let handle = bodies.insert(rigid_body);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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create_ball_articulations(
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&mut bodies,
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&mut colliders,
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&mut impulse_joints,
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&mut multibody_joints,
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15,
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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![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
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}
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