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
51 lines
1.3 KiB
Rust
51 lines
1.3 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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/*
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* Create the cubes
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*/
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let num = 10;
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let rad = 0.2;
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let subdiv = 1.0 / (num as f32);
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for i in 0usize..num {
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let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos();
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// Build the rigid body.
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let rb = RigidBodyBuilder::dynamic()
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.translation(vector![x, y, 0.0])
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.linvel(vector![x * 10.0, y * 10.0, 0.0])
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.angvel(Vector::z() * 100.0)
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.linear_damping((i + 1) as f32 * subdiv * 10.0)
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.angular_damping((num - i) as f32 * subdiv * 10.0);
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let rb_handle = bodies.insert(rb);
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// Build the collider.
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let co = ColliderBuilder::cuboid(rad, rad, rad);
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colliders.insert_with_parent(co, rb_handle, &mut bodies);
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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_with_params(
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bodies,
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colliders,
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impulse_joints,
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multibody_joints,
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Vector::zeros(),
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(),
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);
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testbed.look_at(point![2.0, 2.5, 20.0], point![2.0, 2.5, 0.0]);
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}
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