diff options
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/platform3.rs | 45 |
1 files changed, 28 insertions, 17 deletions
diff --git a/examples3d/platform3.rs b/examples3d/platform3.rs index 251e0d1..6b3c234 100644 --- a/examples3d/platform3.rs +++ b/examples3d/platform3.rs @@ -52,14 +52,24 @@ pub fn init_world(testbed: &mut Testbed) { } /* - * Setup a kinematic rigid body. + * Setup a velocity-based kinematic rigid body. */ - let platform_body = RigidBodyBuilder::new_kinematic() + let platform_body = RigidBodyBuilder::new_kinematic_velocity_based() .translation(vector![0.0, 1.5 + 0.8, -10.0 * rad]) .build(); - let platform_handle = bodies.insert(platform_body); + let velocity_based_platform_handle = bodies.insert(platform_body); let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build(); - colliders.insert_with_parent(collider, platform_handle, &mut bodies); + colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies); + + /* + * Setup a position-based kinematic rigid body. + */ + let platform_body = RigidBodyBuilder::new_kinematic_position_based() + .translation(vector![0.0, 2.0 + 1.5 + 0.8, -10.0 * rad]) + .build(); + let position_based_platform_handle = bodies.insert(platform_body); + let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build(); + colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies); /* * Setup a callback to control the platform. @@ -71,21 +81,22 @@ pub fn init_world(testbed: &mut Testbed) { return; } - if let Some(platform) = physics.bodies.get_mut(platform_handle) { - let mut next_pos = *platform.position(); + let velocity = vector![ + 0.0, + (run_state.time * 5.0).sin(), + run_state.time.sin() * 5.0 + ]; - let dt = 0.016; - next_pos.translation.vector.y += (run_state.time * 5.0).sin() * dt; - next_pos.translation.vector.z += run_state.time.sin() * 5.0 * dt; - - if next_pos.translation.vector.z >= rad * 10.0 { - next_pos.translation.vector.z -= dt; - } - if next_pos.translation.vector.z <= -rad * 10.0 { - next_pos.translation.vector.z += dt; - } + // Update the velocity-based kinematic body by setting its velocity. + if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) { + platform.set_linvel(velocity, true); + } - platform.set_next_kinematic_position(next_pos); + // Update the position-based kinematic body by setting its next position. + if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) { + let mut next_tra = *platform.translation(); + next_tra += velocity * physics.integration_parameters.dt; + platform.set_next_kinematic_translation(next_tra); } }); |