Merge pull request #157 from dimforge/ccd

Implement Continuous Collision Detection

1 files changed, 24 insertions, 1 deletions

diff --git a/examples3d/debug_infinite_fall3.rs b/examples3d/debug_infinite_fall3.rs
index d1bda45..e70a386 100644
--- a/examples3d/debug_infinite_fall3.rs
+++ b/examples3d/debug_infinite_fall3.rs
@@ -1,3 +1,4 @@
+use na::Point3;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;
@@ -10,10 +11,31 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut colliders = ColliderSet::new();
     let joints = JointSet::new();
 
+    /*
+     * Ground
+     */
+    let ground_size = 100.1;
+    let ground_height = 2.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, 4.0, 0.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
     let rad = 1.0;
     // Build the dynamic box rigid body.
     let rigid_body = RigidBodyBuilder::new_dynamic()
-        .translation(0.0, 3.0 * rad, 0.0)
+        .translation(0.0, 7.0 * rad, 0.0)
+        .can_sleep(false)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::ball(rad).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 2.0 * rad, 0.0)
         .can_sleep(false)
         .build();
     let handle = bodies.insert(rigid_body);
@@ -23,6 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
+    testbed.look_at(Point3::new(100.0, -10.0, 100.0), Point3::origin());
     testbed.set_world(bodies, colliders, joints);
 }