1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
|
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
let body = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0);
colliders.insert_with_parent(collider, body, &mut bodies);
let rigid_body = RigidBodyBuilder::dynamic().position(Isometry::translation(0.0, 1.0, 0.0));
let body_part = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(1.0, 1.0, 1.0).density(1.0);
colliders.insert_with_parent(collider, body_part, &mut bodies);
let joint = SphericalJointBuilder::new()
.local_anchor1(point![0.0, 4.0, 0.0])
.local_anchor2(point![0.0, 0.0, 0.0])
.motor_position(JointAxis::AngX, 1.0, 1000.0, 200.0)
.motor_position(JointAxis::AngY, 0.0, 1000.0, 200.0)
.motor_position(JointAxis::AngZ, 0.0, 1000.0, 200.0);
multibody_joints.insert(body, body_part, joint, true);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![20.0, 0.0, 0.0], point![0.0, 0.0, 0.0]);
}
|
