ef5dcaccaf
* feat: add debug-demo for disabling a collider * feat: add a simple debug-demo with two cubes * feat: rename RigidBodyChangnes::MODIFIED and ColliderChanges::MODIFIED to ::IN_MODIFIED_SET * feat: render debug-colliders with a different color with the debug-renderer * chore: wire up new examples to the testbed * fix colliders user-modification being ignored after the first step * fix broad-phase still taking into account disabled colliders with enabled dynamic rigid-bodies * chore: update changelog * fix cargo doc
60 lines
2.1 KiB
Rust
60 lines
2.1 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 multibody_joints = MultibodyJointSet::new();
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let rad = 0.5;
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/*
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* Ground
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*/
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let ground_size = 10.1;
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let ground_height = 2.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* Platform that will be enabled/disabled.
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*/
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(5.0, 1.0, 5.0);
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let handle_to_disable = colliders.insert_with_parent(collider, handle, &mut bodies);
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// Callback that will be executed on the main loop to handle proximities.
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testbed.add_callback(move |mut graphics, physics, _, run_state| {
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if run_state.timestep_id % 250 == 0 {
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let co = &mut physics.colliders[handle_to_disable];
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let enabled = co.is_enabled();
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co.set_enabled(!enabled);
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println!("Platform is now enabled: {}", co.is_enabled());
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}
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if run_state.timestep_id % 25 == 0 {
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 20.0, 0.0]);
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let handle = physics.bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad);
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physics
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.colliders
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.insert_with_parent(collider, handle, &mut physics.bodies);
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if let Some(graphics) = &mut graphics {
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graphics.add_body(handle, &physics.bodies, &physics.colliders);
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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![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
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}
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