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|
use na::{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 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 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()
}
|
