Merge pull request #69 from dimforge/rigid_body_modifications

Track some user-initiated rigid-body modifications

1 files changed, 59 insertions, 0 deletions

diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
new file mode 100644
index 0000000..c8d72fc
--- /dev/null
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -0,0 +1,59 @@
+use na::{Isometry3, Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+    /*
+     * Ground.
+     */
+    let ground_size = 3.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4).build();
+    let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Rolling ball
+     */
+    let ball_rad = 0.1;
+    let rb = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 0.2, 0.0)
+        .build();
+    let ball_handle = bodies.insert(rb);
+    let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
+    colliders.insert(collider, ball_handle, &mut bodies);
+
+    testbed.add_callback(move |window, physics, _, graphics, _| {
+        // Remove then re-add the ground collider.
+        let coll = physics
+            .colliders
+            .remove(ground_collider_handle, &mut physics.bodies, true)
+            .unwrap();
+        ground_collider_handle = physics
+            .colliders
+            .insert(coll, ground_handle, &mut physics.bodies);
+        graphics.add_collider(window, ground_collider_handle, &physics.colliders);
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}