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use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
use rapier_urdf::{RapierRobot, UrdfLoaderOptions};
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,
apply_imported_mass_props: true,
make_roots_fixed: true,
// rigid_body_blueprint: RigidBodyBuilder::dynamic().gravity_scale(0.0),
collider_blueprint: ColliderBuilder::ball(0.0)
.density(0.0)
.active_collision_types(ActiveCollisionTypes::empty()),
..Default::default()
};
let (mut robot, _) = RapierRobot::from_file("assets/3d/sample.urdf", options).unwrap();
// robot.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints);
robot.insert_using_multibody_joints(&mut bodies, &mut colliders, &mut multibody_joints);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}
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