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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();
// Triangle ground.
let width = 0.5;
let vtx = vec![
point![-width, 0.0, -width],
point![width, 0.0, -width],
point![width, 0.0, width],
point![-width, 0.0, width],
point![-width, -width, -width],
point![width, -width, -width],
point![width, -width, width],
point![-width, -width, width],
];
let idx = vec![
[0, 2, 1],
[0, 3, 2],
[4, 5, 6],
[4, 6, 7],
[0, 4, 7],
[0, 7, 3],
[1, 6, 5],
[1, 2, 6],
[3, 7, 2],
[2, 7, 6],
[0, 1, 5],
[0, 5, 4],
];
// Dynamic box rigid body.
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 35.0, 0.0])
// .rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vtx, idx);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);
/*
* 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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