Merge pull request #157 from dimforge/ccd

Implement Continuous Collision Detection

1 files changed, 50 insertions, 0 deletions

diff --git a/examples3d/debug_big_colliders3.rs b/examples3d/debug_big_colliders3.rs
new file mode 100644
index 0000000..956f36a
--- /dev/null
+++ b/examples3d/debug_big_colliders3.rs
@@ -0,0 +1,50 @@
+use na::{Point3, Vector3};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, SharedShape};
+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 rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis()));
+    let collider = ColliderBuilder::new(halfspace).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let mut curr_y = 0.0;
+    let mut curr_width = 10_000.0;
+
+    for _ in 0..12 {
+        let curr_height = 0.1f32.min(curr_width);
+        curr_y += curr_height * 4.0;
+
+        let rigid_body = RigidBodyBuilder::new_dynamic()
+            .translation(0.0, curr_y, 0.0)
+            .build();
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build();
+        colliders.insert(collider, handle, &mut bodies);
+
+        curr_width /= 5.0;
+    }
+
+    /*
+     * 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()
+}