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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) {
let bodies = RigidBodySet::new();
let colliders = ColliderSet::new();
let joints = JointSet::new();
let rad = 0.5;
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |window, physics, _, graphics, _| {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0, 0.0)
.build();
let handle = physics.bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
physics
.colliders
.insert(collider, handle, &mut physics.bodies);
graphics.add(window, handle, &physics.bodies, &physics.colliders);
let to_remove: Vec<_> = physics
.bodies
.iter()
.filter(|(_, b)| b.position.translation.vector.y < -10.0)
.map(|e| e.0)
.collect();
for handle in to_remove {
physics.pipeline.remove_rigid_body(
handle,
&mut physics.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
&mut physics.colliders,
&mut physics.joints,
);
graphics.remove_body_nodes(window, handle);
}
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(-30.0, -4.0, -30.0), Point3::new(0.0, 1.0, 0.0));
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Add-remove", init_world)]);
testbed.run()
}
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