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use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
// This shows a bug when a cylinder is in contact with a very large
// but very thin cuboid. In this case the EPA returns an incorrect
// contact normal, resulting in the cylinder falling through the floor.
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 vertices = vec![
// point![-50.0, 0.0, -50.0],
// point![-50.0, 0.0, 50.0],
// point![50.0, 0.0, 50.0],
// point![50.0, 0.0, -50.0],
// ];
// let indices = vec![[0, 1, 2], [0, 2, 3]];
//
// let collider = ColliderBuilder::trimesh_with_flags(vertices, indices, TriMeshFlags::all());
// colliders.insert(collider);
let heights = DMatrix::repeat(2, 2, 0.0);
let collider = ColliderBuilder::heightfield_with_flags(
heights,
Vector::new(50.0, 1.0, 50.0),
HeightFieldFlags::FIX_INTERNAL_EDGES,
);
colliders.insert(collider);
/*
* Create the cubes
*/
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 5.0, 0.0])
.rotation(vector![0.5, 0.0, 0.5])
.linvel(vector![0.0, -100.0, 0.0])
.soft_ccd_prediction(10.0);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(5.0, 0.015, 5.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}
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