90 lines
3.0 KiB
Rust
90 lines
3.0 KiB
Rust
use na::Point3;
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use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
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use rapier3d::geometry::{ColliderBuilder, ColliderSet};
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use rapier_testbed3d::Testbed;
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const MAX_NUMBER_OF_BODIES: usize = 400;
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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 joints = JointSet::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 = 100.1;
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let ground_height = 2.1; // 16.0;
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let rigid_body = RigidBodyBuilder::new_static()
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.translation(0.0, -ground_height, 0.0)
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
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colliders.insert(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 window, mut graphics, physics, _, run_state| {
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 10.0, 0.0)
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.build();
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let handle = physics.bodies.insert(rigid_body);
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let collider = match run_state.timestep_id % 3 {
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0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
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1 => ColliderBuilder::cone(rad, rad).build(),
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_ => ColliderBuilder::cuboid(rad, rad, rad).build(),
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};
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physics
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.colliders
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.insert(collider, handle, &mut physics.bodies);
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if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
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graphics.add(window, handle, &physics.bodies, &physics.colliders);
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}
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if physics.bodies.len() > MAX_NUMBER_OF_BODIES {
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let mut to_remove: Vec<_> = physics
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.bodies
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.iter()
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.filter(|e| e.1.is_dynamic())
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.map(|e| (e.0, e.1.position().translation.vector))
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.collect();
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to_remove.sort_by(|a, b| {
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(a.1.x.abs() + a.1.z.abs())
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.partial_cmp(&(b.1.x.abs() + b.1.z.abs()))
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.unwrap()
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.reverse()
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});
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let num_to_remove = to_remove.len() - MAX_NUMBER_OF_BODIES;
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for (handle, _) in &to_remove[..num_to_remove] {
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physics
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.bodies
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.remove(*handle, &mut physics.colliders, &mut physics.joints);
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if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
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graphics.remove_body_nodes(window, *handle);
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}
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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, joints);
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// testbed
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// .physics_state_mut()
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// .integration_parameters
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// .velocity_based_erp = 0.2;
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testbed.look_at(Point3::new(-30.0, 4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
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}
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fn main() {
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let testbed = Testbed::from_builders(0, vec![("Add-remove", init_world)]);
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testbed.run()
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}
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