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
74 lines
2.8 KiB
Rust
74 lines
2.8 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 mut impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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let rad = 0.4;
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let num = 10;
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let shift = 2.0;
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for l in 0..4 {
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let y = l as f32 * shift * (num as f32) * 3.0;
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for j in 0..50 {
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let x = j as f32 * shift * 4.0;
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let ground = RigidBodyBuilder::fixed().translation(vector![x, y, 0.0]);
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let mut curr_parent = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(collider, curr_parent, &mut bodies);
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for i in 0..num {
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// Create four bodies.
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let z = i as f32 * shift * 2.0 + shift;
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let positions = [
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Isometry::translation(x, y, z),
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Isometry::translation(x + shift, y, z),
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Isometry::translation(x + shift, y, z + shift),
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Isometry::translation(x, y, z + shift),
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];
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let mut handles = [curr_parent; 4];
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for k in 0..4 {
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let density = 1.0;
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let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]);
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handles[k] = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
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colliders.insert_with_parent(collider, handles[k], &mut bodies);
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}
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// Setup four impulse_joints.
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let x = Vector::x_axis();
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let z = Vector::z_axis();
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let revs = [
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RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
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RevoluteJointBuilder::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
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RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
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RevoluteJointBuilder::new(x).local_anchor2(point![shift, 0.0, 0.0]),
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];
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impulse_joints.insert(curr_parent, handles[0], revs[0], true);
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impulse_joints.insert(handles[0], handles[1], revs[1], true);
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impulse_joints.insert(handles[1], handles[2], revs[2], true);
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impulse_joints.insert(handles[2], handles[3], revs[3], true);
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curr_parent = handles[3];
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}
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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(point![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
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}
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