Merge pull request #334 from dimforge/fixes

Some CCD and debug-render improvements

1 files changed, 44 insertions, 0 deletions

diff --git a/examples3d/debug_excentric_boxes3.rs b/examples3d/debug_excentric_boxes3.rs
new file mode 100644
index 0000000..938de91
--- /dev/null
+++ b/examples3d/debug_excentric_boxes3.rs
@@ -0,0 +1,44 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.1;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
+    colliders.insert_with_parent(collider, handle, &mut bodies);
+
+    // Build the dynamic box rigid body.
+    let (mut vtx, idx) = Cuboid::new(vector![1.0, 1.0, 1.0]).to_trimesh();
+    vtx.iter_mut()
+        .for_each(|pt| *pt += vector![100.0, 100.0, 100.0]);
+    let shape = SharedShape::convex_mesh(vtx, &idx).unwrap();
+
+    for _ in 0..2 {
+        let rigid_body = RigidBodyBuilder::dynamic()
+            .translation(vector![-100.0, -100.0 + 10.0, -100.0])
+            .can_sleep(false);
+        let handle = bodies.insert(rigid_body);
+        let collider = ColliderBuilder::new(shape.clone());
+        colliders.insert_with_parent(collider, handle, &mut bodies);
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
+}