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use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn prismatic_repro(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
box_center: Point<f32>,
) {
let box_rb = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(vector![box_center.x, box_center.y, box_center.z])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
box_rb,
bodies,
);
let wheel_y = -1.0;
let wheel_positions = vec![
vector![1.0, wheel_y, -1.0],
vector![-1.0, wheel_y, -1.0],
vector![1.0, wheel_y, 1.0],
vector![-1.0, wheel_y, 1.0],
];
for pos in wheel_positions {
let wheel_pos_in_world = box_center + pos;
let wheel_rb = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
])
.build(),
);
colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
let mut prismatic = rapier3d::dynamics::PrismaticJoint::new(
point![pos.x, pos.y, pos.z],
Vector::y_axis(),
Vector::zeros(),
Point::origin(),
Vector::y_axis(),
Vector::default(),
);
prismatic.configure_motor_model(rapier3d::dynamics::SpringModel::VelocityBased);
let (stiffness, damping) = (0.05, 0.2);
prismatic.configure_motor_position(0.0, stiffness, damping);
joints.insert(bodies, box_rb, wheel_rb, prismatic);
}
// put a small box under one of the wheels
let gravel = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
gravel,
bodies,
);
}
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
/*
* Ground
*/
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(vector![0.0, -ground_height, 0.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert_with_parent(collider, handle, &mut bodies);
prismatic_repro(
&mut bodies,
&mut colliders,
&mut joints,
point![0.0, 5.0, 0.0],
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
}
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