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
92 lines
3.2 KiB
Rust
92 lines
3.2 KiB
Rust
use rapier_testbed3d::Testbed;
|
|
use rapier3d::prelude::*;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let mut impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
/*
|
|
* Fixed ground to attach one end of the joints.
|
|
*/
|
|
let rigid_body = RigidBodyBuilder::fixed();
|
|
let ground_handle = bodies.insert(rigid_body);
|
|
let mut target_angles = vec![];
|
|
|
|
/*
|
|
* A rectangle on a motor with target position.
|
|
*/
|
|
for num in 0..9 {
|
|
let x_pos = -6.0 + 1.5 * num as f32;
|
|
let rigid_body = RigidBodyBuilder::dynamic()
|
|
.translation(vector![x_pos, 2.0, 0.0])
|
|
.can_sleep(false);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
let target_angle = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32;
|
|
let joint = RevoluteJointBuilder::new(Vector::z_axis())
|
|
.local_anchor1(point![x_pos, 1.5, 0.0])
|
|
.local_anchor2(point![0.0, -0.5, 0.0])
|
|
.motor_position(target_angle, 1000.0, 150.0);
|
|
impulse_joints.insert(ground_handle, handle, joint, true);
|
|
target_angles.push(target_angle);
|
|
}
|
|
|
|
/*
|
|
* A rectangle on a motor with limits.
|
|
*/
|
|
for num in 0..8 {
|
|
let x_pos = -6.0 + 1.5 * num as f32;
|
|
let rigid_body = RigidBodyBuilder::dynamic()
|
|
.translation(vector![x_pos, 4.5, 0.0])
|
|
.rotation(vector![0.0, 0.0, std::f32::consts::PI])
|
|
.can_sleep(false);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
let max_angle_limit = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32;
|
|
let joint = RevoluteJointBuilder::new(Vector::z_axis())
|
|
.local_anchor1(point![x_pos, 5.0, 0.0])
|
|
.local_anchor2(point![0.0, -0.5, 0.0])
|
|
.motor_velocity(1.5, 30.0)
|
|
.motor_max_force(100.0)
|
|
.limits([-std::f32::consts::PI, max_angle_limit]);
|
|
impulse_joints.insert(ground_handle, handle, joint, true);
|
|
target_angles.push(max_angle_limit);
|
|
}
|
|
|
|
testbed.add_callback(move |_, physics, _, state| {
|
|
for ((_, joint), target) in physics.impulse_joints.iter().zip(target_angles.iter()) {
|
|
let rb1 = &physics.bodies[joint.body1];
|
|
let rb2 = &physics.bodies[joint.body2];
|
|
let revolute = joint.data.as_revolute().unwrap();
|
|
println!(
|
|
"[Step {}] rev angle: {} (target = {})",
|
|
state.timestep_id,
|
|
revolute.angle(rb1.rotation(), rb2.rotation()),
|
|
target
|
|
);
|
|
}
|
|
});
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world_with_params(
|
|
bodies,
|
|
colliders,
|
|
impulse_joints,
|
|
multibody_joints,
|
|
vector![0.0, 0.0, 0.0],
|
|
(),
|
|
);
|
|
testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
|
|
}
|