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use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn prismatic_repro(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
box_center: Point<f32>,
) {
let box_rb = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
box_center.x,
box_center.y,
box_center.z
]));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 0.25, 1.0), 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::dynamic().translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
]));
colliders.insert_with_parent(ColliderBuilder::ball(0.5), wheel_rb, bodies);
let (stiffness, damping) = (0.05, 0.2);
let prismatic = PrismaticJointBuilder::new(Vector::y_axis())
.local_anchor1(point![pos.x, pos.y, pos.z])
.motor_position(0.0, stiffness, damping);
impulse_joints.insert(box_rb, wheel_rb, prismatic);
}
// put a small box under one of the wheels
let gravel = bodies.insert(RigidBodyBuilder::dynamic().translation(vector![
box_center.x + 1.0,
box_center.y - 2.4,
-1.0
]));
colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.1, 0.5), gravel, bodies);
}
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
*/
let ground_size = 50.0;
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);
prismatic_repro(
&mut bodies,
&mut colliders,
&mut impulse_joints,
point![0.0, 5.0, 0.0],
);
/*
* 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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