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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) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground.
*/
let ground_size = 3.0;
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).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)
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
colliders.insert(collider, ball_handle, &mut bodies);
testbed.add_callback(move |window, physics, _, graphics, _| {
// Remove then re-add the ground collider.
let coll = physics
.colliders
.remove(ground_collider_handle, &mut physics.bodies, true)
.unwrap();
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()
}
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