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
62 lines
2.3 KiB
Rust
62 lines
2.3 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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/*
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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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let heights = DMatrix::zeros(100, 100);
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let heightfield =
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HeightField::with_flags(heights, vector![60.0, 1.0, 60.0], HeightFieldFlags::all());
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let rotation = vector![0.0, 0.0, 0.0]; // vector![-0.1, 0.0, 0.0];
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colliders
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.insert(ColliderBuilder::new(SharedShape::new(heightfield.clone())).rotation(rotation));
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// let mut trimesh = TriMesh::from(heightfield);
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// trimesh.set_flags(TriMeshFlags::MERGE_DUPLICATE_VERTICES)
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// colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())).rotation(rotation));
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// // NOTE: we add a sensor just because we want the testbed to display the mesh’s wireframe.
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// colliders.insert(
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// ColliderBuilder::new(SharedShape::new(trimesh))
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// .sensor(true)
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// .rotation(rotation),
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// );
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// Dynamic rigid bodies.
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![4.0, 0.5, 0.0])
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.linvel(vector![0.0, -40.0, 20.0])
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(0.5);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![-3.0, 5.0, 0.0])
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.linvel(vector![0.0, -4.0, 20.0])
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.5, 0.5, 0.5);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![8.0, 0.2, 0.0])
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.linvel(vector![0.0, -4.0, 20.0])
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.can_sleep(false);
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let handle = bodies.insert(rigid_body);
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let collider =
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ColliderBuilder::cylinder(0.5, 0.2).rotation(vector![0.0, 0.0, std::f32::consts::PI / 2.0]);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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![10.0, 10.0, 10.0], Point::origin());
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}
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