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
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
|
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, ground_size)
.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);
let ball_coll_handle = 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 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;
}
let ball_coll = physics.colliders.get_mut(ball_coll_handle).unwrap();
ball_coll.set_shape(SharedShape::ball(ball_rad * step as f32 * 2.0));
});
/*
* Create the primitives
*/
let num = 8;
let rad = 1.0;
let shiftx = rad * 2.0 + rad;
let shifty = rad * 2.0 + rad;
let shiftz = rad * 2.0 + rad;
let centerx = shiftx * (num / 2) as f32;
let centery = shifty / 2.0;
let centerz = shiftz * (num / 2) as f32;
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..20 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shiftx - centerx + offset + 5.0;
let y = j as f32 * shifty + centery + 3.0;
let z = k as f32 * shiftz - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad),
1 => ColliderBuilder::ball(rad),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
3 => ColliderBuilder::cone(rad, rad),
_ => ColliderBuilder::capsule_y(rad, rad),
};
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
offset -= 0.05 * rad * (num as f32 - 1.0);
}
/*
* 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());
}
|
