diff options
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/all_examples3.rs | 2 | ||||
| -rw-r--r-- | examples3d/vehicle_controller3.rs | 160 |
2 files changed, 162 insertions, 0 deletions
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 749cec0..194d7cb 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -44,6 +44,7 @@ mod primitives3; mod restitution3; mod sensor3; mod trimesh3; +mod vehicle_controller3; fn demo_name_from_command_line() -> Option<String> { let mut args = std::env::args(); @@ -101,6 +102,7 @@ pub fn main() { ("Restitution", restitution3::init_world), ("Sensor", sensor3::init_world), ("TriMesh", trimesh3::init_world), + ("Vehicle controller", vehicle_controller3::init_world), ("Keva tower", keva3::init_world), ("Newton cradle", newton_cradle3::init_world), ("(Debug) multibody_joints", debug_articulations3::init_world), diff --git a/examples3d/vehicle_controller3.rs b/examples3d/vehicle_controller3.rs new file mode 100644 index 0000000..1228c82 --- /dev/null +++ b/examples3d/vehicle_controller3.rs @@ -0,0 +1,160 @@ +use rapier3d::control::{DynamicRayCastVehicleController, WheelTuning}; +use rapier3d::prelude::*; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + /* + * Ground + */ + let ground_size = 5.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); + let floor_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); + colliders.insert_with_parent(collider, floor_handle, &mut bodies); + + /* + * Vehicle we will control manually. + */ + let hw = 0.3; + let hh = 0.15; + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 1.0, 0.0]); + let vehicle_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(hw * 2.0, hh, hw).density(100.0); + colliders.insert_with_parent(collider, vehicle_handle, &mut bodies); + + let mut tuning = WheelTuning::default(); + tuning.suspension_stiffness = 100.0; + tuning.suspension_damping = 10.0; + let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle); + let wheel_positions = [ + point![hw * 1.5, -hh, hw], + point![hw * 1.5, -hh, -hw], + point![-hw * 1.5, -hh, hw], + point![-hw * 1.5, -hh, -hw], + ]; + + for pos in wheel_positions { + vehicle.add_wheel(pos, -Vector::y(), Vector::z(), hh, hh / 4.0, &tuning); + } + + /* + * Create the cubes + */ + let num = 8; + let rad = 0.1; + + let shift = rad * 2.0; + let centerx = shift * (num / 2) as f32; + let centery = rad; + + for j in 0usize..1 { + for k in 0usize..4 { + for i in 0..num { + let x = i as f32 * shift - centerx; + let y = j as f32 * shift + centery; + let z = k as f32 * shift + centerx; + + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(rad, rad, rad); + colliders.insert_with_parent(collider, handle, &mut bodies); + } + } + } + + /* + * Create a slope we can climb. + */ + let slope_angle = 0.2; + let slope_size = 2.0; + let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size) + .translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0]) + .rotation(Vector::z() * slope_angle); + colliders.insert(collider); + + /* + * Create a slope we can’t climb. + */ + let impossible_slope_angle = 0.9; + let impossible_slope_size = 2.0; + let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size) + .translation(vector![ + ground_size + slope_size * 2.0 + impossible_slope_size - 0.9, + -ground_height + 2.3, + 0.0 + ]) + .rotation(Vector::z() * impossible_slope_angle); + colliders.insert(collider); + + // /* + // * Create a moving platform. + // */ + // let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]); + // // .rotation(-0.3); + // let platform_handle = bodies.insert(body); + // let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0); + // colliders.insert_with_parent(collider, platform_handle, &mut bodies); + + /* + * More complex ground. + */ + let ground_size = Vector::new(10.0, 0.4, 10.0); + let nsubdivs = 20; + + let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| { + -(i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos() + - (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos() + }); + + let collider = + ColliderBuilder::heightfield(heights, ground_size).translation(vector![-7.0, 0.0, 0.0]); + colliders.insert(collider); + + // /* + // * A tilting dynamic body with a limited joint. + // */ + // let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]); + // let ground_handle = bodies.insert(ground); + // let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]); + // let handle = bodies.insert(body); + // let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0); + // colliders.insert_with_parent(collider, handle, &mut bodies); + // let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]); + // impulse_joints.insert(ground_handle, handle, joint, true); + + // /* + // * Setup a callback to move the platform. + // */ + // testbed.add_callback(move |_, physics, _, run_state| { + // let linvel = vector![ + // (run_state.time * 2.0).sin() * 2.0, + // (run_state.time * 5.0).sin() * 1.5, + // 0.0 + // ]; + // // let angvel = run_state.time.sin() * 0.5; + // + // // Update the velocity-based kinematic body by setting its velocity. + // if let Some(platform) = physics.bodies.get_mut(platform_handle) { + // platform.set_linvel(linvel, true); + // // NOTE: interaction with rotating platforms isn’t handled very well yet. + // // platform.set_angvel(angvel, true); + // } + // }); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.set_vehicle_controller(vehicle); + testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin()); +} |