Add restitution.

2 files changed, 58 insertions, 0 deletions

diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index eeb9736..2196605 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -23,6 +23,7 @@ mod joints3;
 mod keva3;
 mod platform3;
 mod primitives3;
+mod restitution3;
 mod sensor3;
 mod stacks3;
 mod trimesh3;
@@ -72,6 +73,7 @@ pub fn main() {
         ("Heightfield", heightfield3::init_world),
         ("Joints", joints3::init_world),
         ("Platform", platform3::init_world),
+        ("Restitution", restitution3::init_world),
         ("Stacks", stacks3::init_world),
         ("Sensor", sensor3::init_world),
         ("Trimesh", trimesh3::init_world),
diff --git a/examples3d/restitution3.rs b/examples3d/restitution3.rs
new file mode 100644
index 0000000..c8d4b28
--- /dev/null
+++ b/examples3d/restitution3.rs
@@ -0,0 +1,56 @@
+use na::Point3;
+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 = 20.;
+    let ground_height = 1.0;
+
+    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, 2.0)
+        .restitution(1.0)
+        .build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    let num = 10;
+    let rad = 0.5;
+
+    for j in 0..2 {
+        for i in 0..=num {
+            let x = (i as f32) - num as f32 / 2.0;
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(x * 2.0, 10.0 * (j as f32 + 1.0), 0.0)
+                .build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::ball(rad)
+                .restitution((i as f32) / (num as f32))
+                .build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(0.0, 3.0, 30.0), Point3::new(0.0, 3.0, 0.0));
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
+    testbed.run()
+}