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Diffstat (limited to 'examples3d/stress_joint_revolute3.rs')
| -rw-r--r-- | examples3d/stress_joint_revolute3.rs | 89 |
1 files changed, 0 insertions, 89 deletions
diff --git a/examples3d/stress_joint_revolute3.rs b/examples3d/stress_joint_revolute3.rs deleted file mode 100644 index 040fc3e..0000000 --- a/examples3d/stress_joint_revolute3.rs +++ /dev/null @@ -1,89 +0,0 @@ -use na::{Isometry3, Point3, Vector3}; -use rapier3d::dynamics::{JointSet, RevoluteJoint, 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 mut joints = JointSet::new(); - - let rad = 0.4; - let num = 10; - let shift = 2.0; - - for l in 0..4 { - let y = l as f32 * shift * (num as f32) * 3.0; - - for j in 0..50 { - let x = j as f32 * shift * 4.0; - - let ground = RigidBodyBuilder::new_static() - .translation(x, y, 0.0) - .build(); - let mut curr_parent = bodies.insert(ground); - let collider = ColliderBuilder::cuboid(rad, rad, rad).build(); - colliders.insert(collider, curr_parent, &mut bodies); - - for i in 0..num { - // Create four bodies. - let z = i as f32 * shift * 2.0 + shift; - let positions = [ - Isometry3::translation(x, y, z), - Isometry3::translation(x + shift, y, z), - Isometry3::translation(x + shift, y, z + shift), - Isometry3::translation(x, y, z + shift), - ]; - - let mut handles = [curr_parent; 4]; - for k in 0..4 { - let density = 1.0; - let rigid_body = RigidBodyBuilder::new_dynamic() - .position(positions[k]) - .build(); - handles[k] = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(rad, rad, rad) - .density(density) - .build(); - colliders.insert(collider, handles[k], &mut bodies); - } - - // Setup four joints. - let o = Point3::origin(); - let x = Vector3::x_axis(); - let z = Vector3::z_axis(); - - let revs = [ - RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z), - RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x), - RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z), - RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x), - ]; - - joints.insert(&mut bodies, curr_parent, handles[0], revs[0]); - joints.insert(&mut bodies, handles[0], handles[1], revs[1]); - joints.insert(&mut bodies, handles[1], handles[2], revs[2]); - joints.insert(&mut bodies, handles[2], handles[3], revs[3]); - - curr_parent = handles[3]; - } - } - } - - /* - * Set up the testbed. - */ - testbed.set_world(bodies, colliders, joints); - testbed.look_at( - Point3::new(478.0, 83.0, 228.0), - Point3::new(134.0, 83.0, -116.0), - ); -} - -fn main() { - let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]); - testbed.run() -} |
