rapier/examples3d/debug_shape_modification3.rs at master · dimforge/rapier · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
use rapier_testbed3d::TestbedViewer;
use rapier3d::prelude::*;

pub async fn run(viewer: &mut TestbedViewer) -> anyhow::Result<()> {
    /*
     * World
     */
    let mut world = PhysicsWorld::new();

    /*
     * Ground.
     */
    let ground_size = 20.0;
    let ground_height = 0.1;

    let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height, 0.0));
    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
        .friction(0.15)
        // .restitution(0.5)
        ;
    let (_ground_handle, _) = world.insert(rigid_body, collider);

    /*
     * Rolling ball
     */
    let ball_rad = 0.1;
    let rb = RigidBodyBuilder::dynamic()
        .translation(Vector::new(0.0, 0.2, 0.0))
        .linvel(Vector::new(10.0, 0.0, 0.0));
    let collider = ColliderBuilder::ball(ball_rad).density(100.0);
    let (ball_handle, ball_coll_handle) = world.insert(rb, collider);

    /*
     * Colliders without bodies
     */
    let shape_size = 3.0;
    let static_collider =
        ColliderBuilder::ball(shape_size).translation(Vector::new(-15.0, shape_size, 18.0));
    world.insert_collider(static_collider, None);

    let shapes = [
        SharedShape::ball(shape_size),
        SharedShape::cuboid(shape_size, shape_size, shape_size),
        SharedShape::cone(shape_size, shape_size),
        SharedShape::cylinder(shape_size, shape_size),
    ];
    let mut shape_idx = 0;
    let shapeshifting_collider = ColliderBuilder::new(shapes[shape_idx].clone())
        .translation(Vector::new(-15.0, shape_size, 9.0));
    let shapeshifting_coll_handle = world.insert_collider(shapeshifting_collider, None);

    let mut linvel = Vector::ZERO;
    let mut angvel = AngVector::ZERO;
    let mut pos = Pose::IDENTITY;
    let mut step = 0;
    let snapped_frame = 51;

    /*
     * Create the primitives
     */
    let num = 8;
    let rad = 1.0;

    let shiftx = rad * 2.0 + rad;
    let shifty = rad * 2.0 + rad;
    let shiftz = rad * 2.0 + rad;
    let centerx = shiftx * (num / 2) as f32;
    let centery = shifty / 2.0;
    let centerz = shiftz * (num / 2) as f32;

    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;

    for j in 0usize..20 {
        for i in 0..num {
            for k in 0usize..num {
                let x = i as f32 * shiftx - centerx + offset + 5.0;
                let y = j as f32 * shifty + centery + 3.0;
                let z = k as f32 * shiftz - centerz + offset;

                // Build the rigid body.
                let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y, z));

                let collider = match j % 5 {
                    0 => ColliderBuilder::cuboid(rad, rad, rad),
                    1 => ColliderBuilder::ball(rad),
                    // Rounded cylinders are much more efficient that cylinder, even if the
                    // rounding margin is small.
                    2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
                    3 => ColliderBuilder::cone(rad, rad),
                    _ => ColliderBuilder::capsule_y(rad, rad),
                };

                let (_handle, _) = world.insert(rigid_body, collider);
            }
        }

        offset -= 0.05 * rad * (num as f32 - 1.0);
    }

    /*
     * Set up the testbed.
     */
    viewer.set_world(&mut world);
    viewer.look_at(Vec3::new(40.0, 40.0, 40.0), Vec3::ZERO);

    while viewer.render_frame(&mut world).await {
        if viewer.simulating() {
            world.step();

            step += 1;

            // Snap the ball velocity or restore it.
            let ball = world.bodies.get_mut(ball_handle).unwrap();

            if step == snapped_frame {
                linvel = ball.linvel();
                angvel = ball.angvel();
                pos = *ball.position();
            }

            let shapeshifting_coll = world.colliders.get_mut(shapeshifting_coll_handle).unwrap();
            if step % 50 == 0 {
                shape_idx = (shape_idx + 1) % 4;
                shapeshifting_coll.set_shape(shapes[shape_idx].clone())
            }

            if step == 100 {
                ball.set_linvel(linvel, true);
                ball.set_angvel(angvel, true);
                ball.set_position(pos, true);
                step = snapped_frame;
            }

            let ball_coll = world.colliders.get_mut(ball_coll_handle).unwrap();
            ball_coll.set_shape(SharedShape::ball(ball_rad * step as f32 * 2.0));

            viewer.update_collider(ball_coll_handle, &world);
            viewer.update_collider(shapeshifting_coll_handle, &world);
        }
    }
    Ok(())
}