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use na::Point3;
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();
// Triangle ground.
let width = 0.5;
let vtx = vec![
Point3::new(-width, 0.0, -width),
Point3::new(width, 0.0, -width),
Point3::new(width, 0.0, width),
Point3::new(-width, 0.0, width),
Point3::new(-width, -width, -width),
Point3::new(width, -width, -width),
Point3::new(width, -width, width),
Point3::new(-width, -width, width),
];
let idx = vec![
[0, 1, 2],
[0, 2, 3],
[4, 5, 6],
[4, 6, 7],
[0, 4, 7],
[0, 7, 3],
[1, 5, 6],
[1, 6, 2],
[3, 2, 7],
[2, 6, 7],
[0, 1, 5],
[0, 5, 4],
];
// Dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 35.0, 0.0)
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, 0.0, 0.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vtx, idx).build();
colliders.insert(collider, handle, &mut bodies);
/*
* 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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