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
61 lines
1.8 KiB
Rust
61 lines
1.8 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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// Triangle ground.
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let width = 0.5;
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let vtx = vec![
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point![-width, 0.0, -width],
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point![width, 0.0, -width],
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point![width, 0.0, width],
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point![-width, 0.0, width],
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point![-width, -width, -width],
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point![width, -width, -width],
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point![width, -width, width],
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point![-width, -width, width],
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];
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let idx = vec![
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[0, 2, 1],
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[0, 3, 2],
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[4, 5, 6],
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[4, 6, 7],
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[0, 4, 7],
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[0, 7, 3],
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[1, 6, 5],
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[1, 2, 6],
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[3, 7, 2],
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[2, 7, 6],
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[0, 1, 5],
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[0, 5, 4],
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];
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// Dynamic box rigid body.
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![0.0, 35.0, 0.0])
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// .rotation(Vector3::new(0.8, 0.2, 0.1))
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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(1.0, 2.0, 1.0);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::trimesh(vtx, idx).expect("Could not create trimesh collider.");
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colliders.insert_with_parent(collider, handle, &mut bodies);
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testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);
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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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