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use na::{Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground.
*/
let ground_size = 20.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4)
.friction(0.15)
// .restitution(0.5)
.build();
colliders.insert(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::new_dynamic()
.translation(0.0, 0.2, 0.0)
.linvel(10.0, 0.0, 0.0)
.build();
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0).build();
colliders.insert(collider, ball_handle, &mut bodies);
let mut linvel = Vector3::zeros();
let mut angvel = Vector3::zeros();
let mut pos = Isometry3::identity();
let mut step = 0;
let snapped_frame = 51;
testbed.add_callback(move |_, _, physics, _, _| {
step += 1;
// 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;
}
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}
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