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use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, Proximity};
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();
/*
* Ground.
*/
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, ground_handle, &mut bodies);
/*
* Create some boxes.
*/
let num = 10;
let rad = 0.2;
let shift = rad * 2.0;
let centerx = shift * num as f32 / 2.0;
let centerz = shift * num as f32 / 2.0;
for i in 0usize..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx;
let y = 3.0;
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
colliders.insert(collider, handle, &mut bodies);
testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0));
}
}
/*
* Create a cube that will have a ball-shaped sensor attached.
*/
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::new_dynamic()
.translation(0.0, 10.0, 0.0)
.build();
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which
// other colliders can touch.
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
colliders.insert(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't
// want it to contribute to the rigid body mass.
let sensor_collider = ColliderBuilder::ball(rad * 5.0).sensor(true).build();
colliders.insert(sensor_collider, sensor_handle, &mut bodies);
testbed.set_body_color(sensor_handle, Point3::new(0.5, 1.0, 1.0));
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |_, colliders, events, graphics, _| {
while let Ok(prox) = events.proximity_events.try_recv() {
let color = match prox.new_status {
Proximity::WithinMargin | Proximity::Intersecting => Point3::new(1.0, 1.0, 0.0),
Proximity::Disjoint => Point3::new(0.5, 0.5, 1.0),
};
let parent_handle1 = colliders.get(prox.collider1).unwrap().parent();
let parent_handle2 = colliders.get(prox.collider2).unwrap().parent();
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
}
if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
graphics.set_body_color(parent_handle2, color);
}
}
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(-6.0, 4.0, -6.0), Point3::new(0.0, 1.0, 0.0));
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Sensor", init_world)]);
testbed.run()
}
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