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use rapier3d::control::{DynamicRayCastVehicleController, WheelTuning};
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 impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
*/
let ground_size = 5.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
/*
* Vehicle we will control manually.
*/
let hw = 0.3;
let hh = 0.15;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 1.0, 0.0]);
let vehicle_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(hw * 2.0, hh, hw).density(100.0);
colliders.insert_with_parent(collider, vehicle_handle, &mut bodies);
let tuning = WheelTuning {
suspension_stiffness: 100.0,
suspension_damping: 10.0,
..WheelTuning::default()
};
let mut vehicle = DynamicRayCastVehicleController::new(vehicle_handle);
let wheel_positions = [
point![hw * 1.5, -hh, hw],
point![hw * 1.5, -hh, -hw],
point![-hw * 1.5, -hh, hw],
point![-hw * 1.5, -hh, -hw],
];
for pos in wheel_positions {
vehicle.add_wheel(pos, -Vector::y(), Vector::z(), hh, hh / 4.0, &tuning);
}
/*
* Create the cubes
*/
let num = 8;
let rad = 0.1;
let shift = rad * 2.0;
let centerx = shift * (num / 2) as f32;
let centery = rad;
for j in 0usize..1 {
for k in 0usize..4 {
for i in 0..num {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery;
let z = k as f32 * shift + centerx;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
/*
* Create a slope we can climb.
*/
let slope_angle = 0.2;
let slope_size = 2.0;
let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
.translation(vector![ground_size + slope_size, -ground_height + 0.4, 0.0])
.rotation(Vector::z() * slope_angle);
colliders.insert(collider);
/*
* Create a slope we can’t climb.
*/
let impossible_slope_angle = 0.9;
let impossible_slope_size = 2.0;
let collider = ColliderBuilder::cuboid(slope_size, ground_height, ground_size)
.translation(vector![
ground_size + slope_size * 2.0 + impossible_slope_size - 0.9,
-ground_height + 2.3,
0.0
])
.rotation(Vector::z() * impossible_slope_angle);
colliders.insert(collider);
// /*
// * Create a moving platform.
// */
// let body = RigidBodyBuilder::kinematic_velocity_based().translation(vector![-8.0, 1.5, 0.0]);
// // .rotation(-0.3);
// let platform_handle = bodies.insert(body);
// let collider = ColliderBuilder::cuboid(2.0, ground_height, 2.0);
// colliders.insert_with_parent(collider, platform_handle, &mut bodies);
/*
* More complex ground.
*/
let ground_size = Vector::new(10.0, 0.4, 10.0);
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
-(i as f32 * ground_size.x / (nsubdivs as f32) / 2.0).cos()
- (j as f32 * ground_size.z / (nsubdivs as f32) / 2.0).cos()
});
let collider =
ColliderBuilder::heightfield(heights, ground_size).translation(vector![-7.0, 0.0, 0.0]);
colliders.insert(collider);
// /*
// * A tilting dynamic body with a limited joint.
// */
// let ground = RigidBodyBuilder::fixed().translation(vector![0.0, 5.0, 0.0]);
// let ground_handle = bodies.insert(ground);
// let body = RigidBodyBuilder::dynamic().translation(vector![0.0, 5.0, 0.0]);
// let handle = bodies.insert(body);
// let collider = ColliderBuilder::cuboid(1.0, 0.1, 2.0);
// colliders.insert_with_parent(collider, handle, &mut bodies);
// let joint = RevoluteJointBuilder::new(Vector::z_axis()).limits([-0.3, 0.3]);
// impulse_joints.insert(ground_handle, handle, joint, true);
// /*
// * Setup a callback to move the platform.
// */
// testbed.add_callback(move |_, physics, _, run_state| {
// let linvel = vector![
// (run_state.time * 2.0).sin() * 2.0,
// (run_state.time * 5.0).sin() * 1.5,
// 0.0
// ];
// // let angvel = run_state.time.sin() * 0.5;
//
// // Update the velocity-based kinematic body by setting its velocity.
// if let Some(platform) = physics.bodies.get_mut(platform_handle) {
// platform.set_linvel(linvel, true);
// // NOTE: interaction with rotating platforms isn’t handled very well yet.
// // platform.set_angvel(angvel, true);
// }
// });
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.set_vehicle_controller(vehicle);
testbed.look_at(point!(10.0, 10.0, 10.0), Point::origin());
}
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