First complete implementation of the hierarchical SAP.

3 files changed, 56 insertions, 17 deletions

diff --git a/examples3d/debug_infinite_fall3.rs b/examples3d/debug_infinite_fall3.rs
index d1bda45..2a85e37 100644
--- a/examples3d/debug_infinite_fall3.rs
+++ b/examples3d/debug_infinite_fall3.rs
@@ -10,6 +10,19 @@ 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, -ground_height, 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()
@@ -20,6 +33,14 @@ pub fn init_world(testbed: &mut Testbed) {
     let collider = ColliderBuilder::ball(rad).build();
     colliders.insert(collider, handle, &mut bodies);
 
+    let rigid_body = RigidBodyBuilder::new_dynamic()
+        .translation(0.0, 5.0 * 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);
+
     /*
      * Set up the testbed.
      */
diff --git a/examples3d/fountain3.rs b/examples3d/fountain3.rs
index caaa21b..e39ff2a 100644
--- a/examples3d/fountain3.rs
+++ b/examples3d/fountain3.rs
@@ -80,6 +80,10 @@ pub fn init_world(testbed: &mut Testbed) {
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
+    testbed
+        .physics_state_mut()
+        .integration_parameters
+        .velocity_based_erp = 0.2;
     testbed.look_at(Point3::new(-30.0, 4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
 }
 
diff --git a/examples3d/primitives3.rs b/examples3d/primitives3.rs
index db15341..a9ae176 100644
--- a/examples3d/primitives3.rs
+++ b/examples3d/primitives3.rs
@@ -12,19 +12,6 @@ pub fn init_world(testbed: &mut Testbed) {
     let joints = JointSet::new();
 
     /*
-     * Ground
-     */
-    let ground_size = 100.1;
-    let ground_height = 2.1;
-
-    let rigid_body = RigidBodyBuilder::new_static()
-        .translation(0.0, -ground_height, 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);
-
-    /*
      * Create the cubes
      */
     let num = 8;
@@ -39,11 +26,11 @@ pub fn init_world(testbed: &mut Testbed) {
 
     let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
 
-    for j in 0usize..20 {
-        for i in 0..num {
-            for k in 0usize..num {
+    for j in 0usize..1 {
+        for i in 0..1 {
+            for k in 0usize..1 {
                 let x = i as f32 * shiftx - centerx + offset;
-                let y = j as f32 * shifty + centery + 3.0;
+                let y = j as f32 * shifty + centery - rad;
                 let z = k as f32 * shiftz - centerz + offset;
 
                 // Build the rigid body.
@@ -68,9 +55,36 @@ pub fn init_world(testbed: &mut Testbed) {
     }
 
     /*
+     * Ground
+     */
+    testbed.add_callback(
+        move |mut window, mut graphics, physics, events, run_state| {
+            if run_state.timestep_id == 10 {
+                let ground_size = 100.1;
+                let ground_height = 2.1;
+
+                let rigid_body = RigidBodyBuilder::new_static()
+                    .translation(0.0, -ground_height, 0.0)
+                    .build();
+                let handle = physics.bodies.insert(rigid_body);
+                let collider =
+                    ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+                physics
+                    .colliders
+                    .insert(collider, handle, &mut physics.bodies);
+
+                if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
+                    graphics.add(window, handle, &physics.bodies, &physics.colliders);
+                }
+            }
+        },
+    );
+
+    /*
      * Set up the testbed.
      */
     testbed.set_world(bodies, colliders, joints);
+    testbed.physics_state_mut().gravity.fill(0.0);
     testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
 }