116 lines
3.7 KiB
Rust
116 lines
3.7 KiB
Rust
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 = 20.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
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.friction(0.15)
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// .restitution(0.5)
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;
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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/*
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* Rolling ball
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*/
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let ball_rad = 0.1;
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let rb = RigidBodyBuilder::new_dynamic()
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.translation(vector![0.0, 0.2, 0.0])
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.linvel(vector![10.0, 0.0, 0.0]);
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let ball_handle = bodies.insert(rb);
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let collider = ColliderBuilder::ball(ball_rad).density(100.0);
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let ball_coll_handle = colliders.insert_with_parent(collider, ball_handle, &mut bodies);
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let mut linvel = Vector::zeros();
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let mut angvel = Vector::zeros();
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let mut pos = Isometry::identity();
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let mut step = 0;
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let snapped_frame = 51;
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testbed.add_callback(move |_, physics, _, _| {
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step += 1;
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// Snap the ball velocity or restore it.
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let ball = physics.bodies.get_mut(ball_handle).unwrap();
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if step == snapped_frame {
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linvel = *ball.linvel();
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angvel = *ball.angvel();
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pos = *ball.position();
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}
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if step == 100 {
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ball.set_linvel(linvel, true);
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ball.set_angvel(angvel, true);
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ball.set_position(pos, true);
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step = snapped_frame;
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}
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let ball_coll = physics.colliders.get_mut(ball_coll_handle).unwrap();
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ball_coll.set_shape(SharedShape::ball(ball_rad * step as f32 * 2.0));
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});
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/*
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* Create the primitives
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*/
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let num = 8;
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let rad = 1.0;
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let shiftx = rad * 2.0 + rad;
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let shifty = rad * 2.0 + rad;
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let shiftz = rad * 2.0 + rad;
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let centerx = shiftx * (num / 2) as f32;
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let centery = shifty / 2.0;
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let centerz = shiftz * (num / 2) as f32;
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let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
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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 * shiftx - centerx + offset + 5.0;
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let y = j as f32 * shifty + centery + 3.0;
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let z = k as f32 * shiftz - centerz + offset;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
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let handle = bodies.insert(rigid_body);
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let collider = match j % 5 {
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0 => ColliderBuilder::cuboid(rad, rad, rad),
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1 => ColliderBuilder::ball(rad),
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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),
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3 => ColliderBuilder::cone(rad, rad),
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_ => ColliderBuilder::capsule_y(rad, rad),
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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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offset -= 0.05 * rad * (num as f32 - 1.0);
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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![10.0, 10.0, 10.0], Point::origin());
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}
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