107 lines
3.8 KiB
Rust
107 lines
3.8 KiB
Rust
use rapier3d::na::ComplexField;
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use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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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 impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Ground
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*/
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let ground_size = vector![100.0, 1.0, 100.0];
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let nsubdivs = 20;
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let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
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if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs {
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10.0
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} else {
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let x = i as f32 * ground_size.x / (nsubdivs as f32);
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let z = j as f32 * ground_size.z / (nsubdivs as f32);
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// NOTE: make sure we use the sin/cos from simba to ensure
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// cross-platform determinism of the example when the
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// enhanced_determinism feature is enabled.
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<f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
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}
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});
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// Here we will build our trimesh from the mesh representation of an
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// heightfield.
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let heightfield = HeightField::new(heights, ground_size);
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let (vertices, indices) = heightfield.to_trimesh();
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let rigid_body = RigidBodyBuilder::new_static().build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::trimesh(vertices, indices).build();
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let num = 8;
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let rad = 1.0;
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let shift = rad * 2.0 + rad;
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let centerx = shift * (num / 2) as f32;
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let centery = shift / 2.0;
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let centerz = shift * (num / 2) as f32;
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for j in 0usize..20 {
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for i in 0..num {
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for k in 0usize..num {
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let x = i as f32 * shift - centerx;
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let y = j as f32 * shift + centery + 3.0;
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let z = k as f32 * shift - centerz;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(vector![x, y, z])
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = match j % 6 {
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0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
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1 => ColliderBuilder::ball(rad).build(),
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// Rounded cylinders are much more efficient that cylinder, even if the
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// rounding margin is small.
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2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
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3 => ColliderBuilder::cone(rad, rad).build(),
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4 => ColliderBuilder::capsule_y(rad, rad).build(),
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_ => {
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let shapes = vec![
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(
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Isometry::identity(),
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SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
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),
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(
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Isometry::translation(rad, 0.0, 0.0),
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SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
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),
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(
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Isometry::translation(-rad, 0.0, 0.0),
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SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
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),
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];
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ColliderBuilder::compound(shapes).build()
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}
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};
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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![100.0, 100.0, 100.0], Point::origin());
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}
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