diff options
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/all_examples3.rs | 2 | ||||
| -rw-r--r-- | examples3d/ccd3.rs | 145 |
2 files changed, 147 insertions, 0 deletions
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index a8c38c6..8122583 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -10,6 +10,7 @@ use inflector::Inflector; use rapier_testbed3d::Testbed; use std::cmp::Ordering; +mod ccd3; mod collision_groups3; mod compound3; mod convex_decomposition3; @@ -77,6 +78,7 @@ pub fn main() { let mut builders: Vec<(_, fn(&mut Testbed))> = vec![ ("Fountain", fountain3::init_world), ("Primitives", primitives3::init_world), + ("CCD", ccd3::init_world), ("Collision groups", collision_groups3::init_world), ("Compound", compound3::init_world), ("Convex decomposition", convex_decomposition3::init_world), diff --git a/examples3d/ccd3.rs b/examples3d/ccd3.rs new file mode 100644 index 0000000..b62427f --- /dev/null +++ b/examples3d/ccd3.rs @@ -0,0 +1,145 @@ +use na::{Isometry3, Point3, Vector3}; +use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier3d::geometry::{ColliderBuilder, ColliderSet}; +use rapier_testbed3d::Testbed; + +fn create_wall( + testbed: &mut Testbed, + bodies: &mut RigidBodySet, + colliders: &mut ColliderSet, + offset: Vector3<f32>, + stack_height: usize, + half_extents: Vector3<f32>, +) { + let shift = half_extents * 2.0; + for i in 0usize..stack_height { + for j in i..stack_height { + let fj = j as f32; + let fi = i as f32; + let x = offset.x; + let y = fi * shift.y + offset.y; + let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z + - stack_height as f32 * half_extents.z; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build(); + let handle = bodies.insert(rigid_body); + let collider = + ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build(); + colliders.insert(collider, handle, bodies); + testbed.set_body_color(handle, Point3::new(218. / 255., 201. / 255., 1.0)); + } + } +} + +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 = 50.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::new_static() + .translation(0.0, -ground_height, 0.0) + .build(); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build(); + colliders.insert(collider, ground_handle, &mut bodies); + + /* + * Create the pyramids. + */ + let num_z = 8; + let num_x = 5; + let shift_y = ground_height + 0.5; + let shift_z = (num_z as f32 + 2.0) * 2.0; + + for i in 0..num_x { + let x = i as f32 * 6.0; + create_wall( + testbed, + &mut bodies, + &mut colliders, + Vector3::new(x, shift_y, 0.0), + num_z, + Vector3::new(0.5, 0.5, 1.0), + ); + + create_wall( + testbed, + &mut bodies, + &mut colliders, + Vector3::new(x, shift_y, shift_z), + num_z, + Vector3::new(0.5, 0.5, 1.0), + ); + } + + /* + * Create two very fast rigid-bodies. + * The first one has CCD enabled and a sensor collider attached to it. + * The second one has CCD enabled and a collider attached to it. + */ + let collider = ColliderBuilder::ball(1.0) + .density(10.0) + .sensor(true) + .build(); + let mut rigid_body = RigidBodyBuilder::new_dynamic() + .linvel(1000.0, 0.0, 0.0) + .translation(-20.0, shift_y + 2.0, 0.0) + .ccd_enabled(true) + .build(); + let sensor_handle = bodies.insert(rigid_body); + colliders.insert(collider, sensor_handle, &mut bodies); + + // Second rigid-body with CCD enabled. + let collider = ColliderBuilder::ball(1.0).density(10.0).build(); + let mut rigid_body = RigidBodyBuilder::new_dynamic() + .linvel(1000.0, 0.0, 0.0) + .translation(-20.0, shift_y + 2.0, shift_z) + .ccd_enabled(true) + .build(); + let handle = bodies.insert(rigid_body); + colliders.insert(collider.clone(), handle, &mut bodies); + + // Callback that will be executed on the main loop to handle proximities. + testbed.add_callback(move |_, mut graphics, physics, events, _| { + while let Ok(prox) = events.intersection_events.try_recv() { + let color = if prox.intersecting { + Point3::new(1.0, 1.0, 0.0) + } else { + Point3::new(0.5, 0.5, 1.0) + }; + + let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent(); + let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent(); + + if let Some(graphics) = &mut graphics { + if parent_handle1 != ground_handle && parent_handle1 != sensor_handle { + graphics.set_body_color(parent_handle1, color); + } + if parent_handle2 != ground_handle && parent_handle2 != sensor_handle { + graphics.set_body_color(parent_handle2, color); + } + } + } + }); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} |