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use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
// This shows a bug when a cylinder is in contact with a very large
// but very thin cuboid. In this case the EPA returns an incorrect
// contact normal, resulting in the cylinder falling through the floor.
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
*/
let ground_size = 100.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let num = 1;
let rad = 1.0;
let shiftx = rad * 2.0 + rad;
let shifty = rad * 2.0 + rad;
let shiftz = rad * 2.0 + rad;
let centerx = shiftx * (num / 2) as f32;
let centery = shifty / 2.0;
let centerz = shiftz * (num / 2) as f32;
let offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
let x = -centerx + offset;
let y = centery + 3.0;
let z = -centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cylinder(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* 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());
}
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