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use rapier3d::prelude::*;
use rapier3d_urdf::{UrdfLoaderOptions, UrdfMultibodyOptions, UrdfRobot};
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 mut multibody_joints = MultibodyJointSet::new();
/*
* Ground
*/
let options = UrdfLoaderOptions {
create_colliders_from_visual_shapes: true,
create_colliders_from_collision_shapes: false,
make_roots_fixed: true,
// Z-up to Y-up.
shift: Isometry::rotation(Vector::x() * std::f32::consts::FRAC_PI_2),
..Default::default()
};
let (mut robot, _) =
UrdfRobot::from_file("assets/3d/T12/urdf/T12.URDF", options, None).unwrap();
// The robot can be inserted using impulse joints.
// (We clone because we want to insert the same robot once more afterward.)
robot
.clone()
.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints);
// Insert the robot a second time, but using multibody joints this time.
robot.append_transform(&Isometry::translation(10.0, 0.0, 0.0));
robot.insert_using_multibody_joints(
&mut bodies,
&mut colliders,
&mut multibody_joints,
UrdfMultibodyOptions::DISABLE_SELF_CONTACTS,
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![20.0, 20.0, 20.0], point![5.0, 0.0, 0.0]);
}
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