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
|
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![
Point3::new(0, 1, 2),
Point3::new(0, 2, 3),
Point3::new(4, 5, 6),
Point3::new(4, 6, 7),
Point3::new(0, 4, 7),
Point3::new(0, 7, 3),
Point3::new(1, 5, 6),
Point3::new(1, 6, 2),
Point3::new(3, 2, 7),
Point3::new(2, 6, 7),
Point3::new(0, 1, 5),
Point3::new(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()
}
|
