From 754a48b7ff6d8c58b1ee08651e60112900b60455 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Tue, 25 Aug 2020 22:10:25 +0200 Subject: First public release of Rapier. --- examples3d/debug_triangle3.rs | 48 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 examples3d/debug_triangle3.rs (limited to 'examples3d/debug_triangle3.rs') diff --git a/examples3d/debug_triangle3.rs b/examples3d/debug_triangle3.rs new file mode 100644 index 0000000..c9d7751 --- /dev/null +++ b/examples3d/debug_triangle3.rs @@ -0,0 +1,48 @@ +use na::Point3; +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(); + + // Triangle ground. + let vtx = [ + Point3::new(-10.0, 0.0, -10.0), + Point3::new(10.0, 0.0, -10.0), + Point3::new(0.0, 0.0, 10.0), + ]; + + let rigid_body = RigidBodyBuilder::new_static() + .translation(0.0, 0.0, 0.0) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::triangle(vtx[0], vtx[1], vtx[2]).build(); + colliders.insert(collider, handle, &mut bodies); + + // Dynamic box rigid body. + let rigid_body = RigidBodyBuilder::new_dynamic() + .translation(1.1, 0.01, 0.0) + // .rotation(Vector3::new(0.8, 0.2, 0.1)) + .can_sleep(false) + .build(); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(20.0, 0.1, 1.0).density(1.0).build(); + colliders.insert(collider, handle, &mut bodies); + + /* + * 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() +} -- cgit