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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 mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Fixed ground to attach one end of the joints.
*/
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
let mut target_angles = vec![];
/*
* A rectangle on a motor with target position.
*/
for num in 0..9 {
let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 2.0, 0.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
colliders.insert_with_parent(collider, handle, &mut bodies);
let target_angle = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32;
let joint = RevoluteJointBuilder::new(Vector::z_axis())
.local_anchor1(point![x_pos, 1.5, 0.0])
.local_anchor2(point![0.0, -0.5, 0.0])
.motor_position(target_angle, 1000.0, 150.0);
impulse_joints.insert(ground_handle, handle, joint, true);
target_angles.push(target_angle);
}
/*
* A rectangle on a motor with limits.
*/
for num in 0..8 {
let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 4.5, 0.0])
.rotation(vector![0.0, 0.0, std::f32::consts::PI])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
colliders.insert_with_parent(collider, handle, &mut bodies);
let max_angle_limit = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32;
let joint = RevoluteJointBuilder::new(Vector::z_axis())
.local_anchor1(point![x_pos, 5.0, 0.0])
.local_anchor2(point![0.0, -0.5, 0.0])
.motor_velocity(1.5, 30.0)
.motor_max_force(100.0)
.limits([-std::f32::consts::PI, max_angle_limit]);
impulse_joints.insert(ground_handle, handle, joint, true);
target_angles.push(max_angle_limit);
}
testbed.add_callback(move |_, physics, _, state| {
for ((_, joint), target) in physics.impulse_joints.iter().zip(target_angles.iter()) {
let rb1 = &physics.bodies[joint.body1];
let rb2 = &physics.bodies[joint.body2];
let revolute = joint.data.as_revolute().unwrap();
println!(
"[Step {}] rev angle: {} (target = {})",
state.timestep_id,
revolute.angle(rb1.rotation(), rb2.rotation()),
target
);
}
});
/*
* Set up the testbed.
*/
testbed.set_world_with_params(
bodies,
colliders,
impulse_joints,
multibody_joints,
vector![0.0, 0.0, 0.0],
(),
);
testbed.look_at(point![15.0, 5.0, 42.0], point![13.0, 1.0, 1.0]);
}
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