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use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
const MAX_NUMBER_OF_BODIES: usize = 400;
pub fn init_world(testbed: &mut Testbed) {
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.5;
/*
* Ground
*/
let ground_size = 100.1;
let ground_height = 2.1; // 16.0;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, _, run_state| {
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0, 0.0]);
let handle = physics.bodies.insert(rigid_body);
let collider = match run_state.timestep_id % 3 {
0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
1 => ColliderBuilder::cone(rad, rad),
_ => ColliderBuilder::cuboid(rad, rad, rad),
};
physics
.colliders
.insert_with_parent(collider, handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_body(handle, &physics.bodies, &physics.colliders);
}
if physics.bodies.len() > MAX_NUMBER_OF_BODIES {
let mut to_remove: Vec<_> = physics
.bodies
.iter()
.filter(|e| e.1.is_dynamic())
.map(|e| (e.0, e.1.position().translation.vector))
.collect();
to_remove.sort_by(|a, b| {
(a.1.x.abs() + a.1.z.abs())
.partial_cmp(&(b.1.x.abs() + b.1.z.abs()))
.unwrap()
.reverse()
});
let num_to_remove = to_remove.len() - MAX_NUMBER_OF_BODIES;
for (handle, _) in &to_remove[..num_to_remove] {
physics.bodies.remove(
*handle,
&mut physics.islands,
&mut physics.colliders,
&mut physics.impulse_joints,
&mut physics.multibody_joints,
true,
);
if let Some(graphics) = &mut graphics {
graphics.remove_body(*handle);
}
}
}
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
// testbed
// .physics_state_mut()
// .integration_parameters
// .erp = 0.2;
testbed.look_at(point![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
}
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