diff options
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/debug_add_remove_collider3.rs | 110 | ||||
| -rw-r--r-- | examples3d/debug_dynamic_collider_add3.rs | 112 |
2 files changed, 222 insertions, 0 deletions
diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs new file mode 100644 index 0000000..9e13fb5 --- /dev/null +++ b/examples3d/debug_add_remove_collider3.rs @@ -0,0 +1,110 @@ +use na::{Isometry3, Point3, Vector3}; +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 = 20.0; + 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, 0.4) + .friction(0.15) + // .restitution(0.5) + .build(); + let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); + + /* + * Rolling ball + */ + let ball_rad = 0.1; + let rb = RigidBodyBuilder::new_dynamic() + .translation(0.0, 0.2, 0.0) + .linvel(10.0, 0.0, 0.0) + .build(); + let ball_handle = bodies.insert(rb); + let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); + colliders.insert(collider, ball_handle, &mut bodies); + + let mut linvel = Vector3::zeros(); + let mut angvel = Vector3::zeros(); + let mut pos = Isometry3::identity(); + let mut step = 0; + let mut extra_balls = Vec::new(); + let snapped_frame = 51; + + testbed.add_callback(move |window, physics, _, graphics, _| { + step += 1; + + // Add a bigger ball collider + let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)) + .density(100.0) + .build(); + let new_ball_collider_handle = + physics + .colliders + .insert(collider, ball_handle, &mut physics.bodies); + graphics.add_collider(window, new_ball_collider_handle, &physics.colliders); + extra_balls.push(new_ball_collider_handle); + + // Snap the ball velocity or restore it. + let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); + + if step == snapped_frame { + linvel = *ball.linvel(); + angvel = *ball.angvel(); + pos = *ball.position(); + } + + if step == 100 { + ball.set_linvel(linvel, true); + ball.set_angvel(angvel, true); + ball.set_position(pos, true); + step = snapped_frame; + + for ball in &extra_balls { + physics.colliders.remove(*ball, &mut physics.bodies, true); + } + + extra_balls.clear(); + } + + // Remove then re-add the ground collider. + // let ground = physics.bodies.get_mut(ground_handle).unwrap(); + // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); + // let coll = physics + // .colliders + // .remove(ground_collider_handle, &mut physics.bodies, true) + // .unwrap(); + let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) + .friction(0.15) + .build(); + ground_collider_handle = physics + .colliders + .insert(coll, ground_handle, &mut physics.bodies); + graphics.add_collider(window, ground_collider_handle, &physics.colliders); + }); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs new file mode 100644 index 0000000..9a10b27 --- /dev/null +++ b/examples3d/debug_dynamic_collider_add3.rs @@ -0,0 +1,112 @@ +use na::{Isometry3, Point3, Vector3}; +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 = 20.0; + 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, 0.4) + .friction(0.15) + // .restitution(0.5) + .build(); + let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies); + + /* + * Rolling ball + */ + let ball_rad = 0.1; + let rb = RigidBodyBuilder::new_dynamic() + .translation(0.0, 0.2, 0.0) + .linvel(10.0, 0.0, 0.0) + .build(); + let ball_handle = bodies.insert(rb); + let collider = ColliderBuilder::ball(ball_rad).density(100.0).build(); + colliders.insert(collider, ball_handle, &mut bodies); + + let mut linvel = Vector3::zeros(); + let mut angvel = Vector3::zeros(); + let mut pos = Isometry3::identity(); + let mut step = 0; + let mut extra_colliders = Vec::new(); + let snapped_frame = 51; + + testbed.add_callback(move |window, physics, _, graphics, _| { + step += 1; + + // Add a bigger ball collider + let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)) + .density(100.0) + .build(); + let new_ball_collider_handle = + physics + .colliders + .insert(collider, ball_handle, &mut physics.bodies); + graphics.add_collider(window, new_ball_collider_handle, &physics.colliders); + extra_colliders.push(new_ball_collider_handle); + + // Snap the ball velocity or restore it. + let mut ball = physics.bodies.get_mut(ball_handle).unwrap(); + + if step == snapped_frame { + linvel = *ball.linvel(); + angvel = *ball.angvel(); + pos = *ball.position(); + } + + if step == 100 { + ball.set_linvel(linvel, true); + ball.set_angvel(angvel, true); + ball.set_position(pos, true); + step = snapped_frame; + + for handle in &extra_colliders { + physics.colliders.remove(*handle, &mut physics.bodies, true); + } + + extra_colliders.clear(); + } + + // Remove then re-add the ground collider. + // let ground = physics.bodies.get_mut(ground_handle).unwrap(); + // ground.set_position(Isometry3::translation(0.0, step as f32 * 0.001, 0.0), false); + // let coll = physics + // .colliders + // .remove(ground_collider_handle, &mut physics.bodies, true) + // .unwrap(); + let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4) + .friction(0.15) + .build(); + new_ground_collider_handle = + physics + .colliders + .insert(coll, ground_handle, &mut physics.bodies); + graphics.add_collider(window, new_ground_collider_handle, &physics.colliders); + extra_colliders.push(new_ground_collider_handle); + }); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin()); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]); + testbed.run() +} |