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use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
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 = 20.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
// .restitution(0.5)
;
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 0.2, 0.0])
.linvel(vector![10.0, 0.0, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
let mut linvel = Vector::zeros();
let mut angvel = Vector::zeros();
let mut pos = Isometry::identity();
let mut step = 0;
let mut extra_colliders = Vec::new();
let snapped_frame = 51;
testbed.add_callback(move |mut graphics, physics, _, _| {
step += 1;
// Add a bigger ball collider
let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)).density(100.0);
let new_ball_collider_handle =
physics
.colliders
.insert_with_parent(collider, ball_handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_collider(new_ball_collider_handle, &physics.colliders);
}
extra_colliders.push(new_ball_collider_handle);
// Snap the ball velocity or restore it.
let ball = physics.bodies.get_mut(ball_handle).unwrap();
if step == snapped_frame {
linvel = *ball.linvel();
angvel = *ball.angvel();
pos = *ball.position();
}
if step == 100 {
ball.set_linvel(linvel, true);
ball.set_angvel(angvel, true);
ball.set_position(pos, true);
step = snapped_frame;
for handle in &extra_colliders {
if let Some(graphics) = &mut graphics {
graphics.remove_collider(*handle, &physics.colliders);
}
physics
.colliders
.remove(*handle, &mut physics.islands, &mut physics.bodies, true);
}
extra_colliders.clear();
}
// Remove then re-add the ground collider.
// let ground = physics.bodies.get_mut(ground_handle).unwrap();
// ground.set_position(Isometry::translation(0.0, step as f32 * 0.001, 0.0), false);
// let coll = physics
// .colliders
// .remove(ground_collider_handle, &mut physics.bodies, true)
// .unwrap();
let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
.friction(0.15);
let new_ground_collider_handle =
physics
.colliders
.insert_with_parent(coll, ground_handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_collider(new_ground_collider_handle, &physics.colliders);
}
extra_colliders.push(new_ground_collider_handle);
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
}
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