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
32 lines
1.3 KiB
Rust
32 lines
1.3 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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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 mut multibody_joints = MultibodyJointSet::new();
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let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
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let body = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0);
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colliders.insert_with_parent(collider, body, &mut bodies);
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let rigid_body = RigidBodyBuilder::dynamic().position(Isometry::translation(0.0, 1.0, 0.0));
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let body_part = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0).density(1.0);
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colliders.insert_with_parent(collider, body_part, &mut bodies);
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let joint = SphericalJointBuilder::new()
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.local_anchor1(point![0.0, 4.0, 0.0])
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.local_anchor2(point![0.0, 0.0, 0.0])
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.motor_position(JointAxis::AngX, 1.0, 1000.0, 200.0)
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.motor_position(JointAxis::AngY, 0.0, 1000.0, 200.0)
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.motor_position(JointAxis::AngZ, 0.0, 1000.0, 200.0);
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multibody_joints.insert(body, body_part, joint, true);
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testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
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testbed.look_at(point![20.0, 0.0, 0.0], point![0.0, 0.0, 0.0]);
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}
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