From 5c44d936f7449e7925b124681cfbfd64cb031123 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sat, 25 May 2024 23:17:15 +0200 Subject: feat: add urdf example --- examples3d/urdf3.rs | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) create mode 100644 examples3d/urdf3.rs (limited to 'examples3d/urdf3.rs') diff --git a/examples3d/urdf3.rs b/examples3d/urdf3.rs new file mode 100644 index 0000000..e188c86 --- /dev/null +++ b/examples3d/urdf3.rs @@ -0,0 +1,38 @@ +use rapier3d::prelude::*; +use rapier_testbed3d::Testbed; +use rapier_urdf::{RapierRobot, UrdfLoaderOptions}; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let mut impulse_joints = ImpulseJointSet::new(); + let mut multibody_joints = MultibodyJointSet::new(); + + /* + * Ground + */ + let options = UrdfLoaderOptions { + create_colliders_from_visual_shapes: true, + create_colliders_from_collision_shapes: false, + apply_imported_mass_props: true, + make_roots_fixed: true, + // rigid_body_blueprint: RigidBodyBuilder::dynamic().gravity_scale(0.0), + collider_blueprint: ColliderBuilder::ball(0.0) + .density(0.0) + .active_collision_types(ActiveCollisionTypes::empty()), + ..Default::default() + }; + let (mut robot, _) = RapierRobot::from_file("assets/3d/sample.urdf", options).unwrap(); + + // robot.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints); + robot.insert_using_multibody_joints(&mut bodies, &mut colliders, &mut multibody_joints); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![100.0, 100.0, 100.0], Point::origin()); +} -- cgit