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extern crate nalgebra as na;
use na::{Point3, RealField, Vector3};
use ncollide3d::pipeline::CollisionGroups;
use ncollide3d::shape::{Cuboid, ShapeHandle};
use nphysics3d::force_generator::DefaultForceGeneratorSet;
use nphysics3d::joint::DefaultJointConstraintSet;
use nphysics3d::object::{
BodyPartHandle, ColliderDesc, DefaultBodySet, DefaultColliderSet, Ground, RigidBodyDesc,
};
use nphysics3d::world::{DefaultGeometricalWorld, DefaultMechanicalWorld};
use nphysics_testbed3d::Testbed;
/*
* NOTE: The `r` macro is only here to convert from f64 to the `N` scalar type.
* This simplifies experimentation with various scalar types (f32, fixed-point numbers, etc.)
*/
pub fn init_world<N: RealField>(testbed: &mut Testbed<N>) {
/*
* World
*/
let mechanical_world = DefaultMechanicalWorld::new(Vector3::new(r!(0.0), r!(-9.81), r!(0.0)));
let geometrical_world = DefaultGeometricalWorld::new();
let mut bodies = DefaultBodySet::new();
let mut colliders = DefaultColliderSet::new();
let joint_constraints = DefaultJointConstraintSet::new();
let force_generators = DefaultForceGeneratorSet::new();
/*
* Setup a static body used as the ground.
*/
let ground_handle = bodies.insert(Ground::new());
/*
* Setup groups.
*/
const GREEN_GROUP_ID: usize = 0;
let mut green_group = CollisionGroups::new();
green_group.set_membership(&[GREEN_GROUP_ID]);
green_group.set_whitelist(&[GREEN_GROUP_ID]);
const BLUE_GROUP_ID: usize = 1;
let mut blue_group = CollisionGroups::new();
blue_group.set_membership(&[BLUE_GROUP_ID]);
blue_group.set_whitelist(&[BLUE_GROUP_ID]);
/*
* A floor that will collide with everything (default behaviour).
*/
let ground_thickness = r!(0.2);
let ground_shape = ShapeHandle::new(Cuboid::new(Vector3::new(
r!(3.0),
ground_thickness,
r!(3.0),
)));
let main_floor = ColliderDesc::new(ground_shape)
.translation(Vector3::y() * -ground_thickness)
.build(BodyPartHandle(ground_handle, 0));
colliders.insert(main_floor);
/*
* A green floor that will collide with the GREEN group only.
*/
let ground_shape = ShapeHandle::new(Cuboid::new(Vector3::new(r!(1.0), r!(0.1), r!(1.0))));
let green_floor = ColliderDesc::new(ground_shape.clone())
.translation(Vector3::y())
.collision_groups(green_group)
.build(BodyPartHandle(ground_handle, 0));
let green_collider_handle = colliders.insert(green_floor);
testbed.set_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
/*
* A blue floor that will collide with the BLUE group only.
*/
let blue_floor = ColliderDesc::new(ground_shape)
.translation(Vector3::y() * r!(2.0))
.collision_groups(blue_group)
.build(BodyPartHandle(ground_handle, 0));
let blue_collider_handle = colliders.insert(blue_floor);
testbed.set_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
/*
* Create the boxes
*/
let num = 8;
let rad = r!(0.1);
let shift = (rad + ColliderDesc::<N>::default_margin()) * r!(2.0);
let centerx = shift * r!(num as f64) / r!(2.0);
let centery = r!(2.5);
let centerz = shift * r!(num as f64) / r!(2.0);
let cuboid = ShapeHandle::new(Cuboid::new(Vector3::repeat(rad)));
for k in 0usize..4 {
for i in 0usize..num {
for j in 0usize..num {
let x = r!(i as f64) * shift - centerx;
let z = r!(j as f64) * shift - centerz;
let y = r!(k as f64) * shift + centery;
// Alternate between the GREEN and BLUE groups.
let (group, color) = if k % 2 == 0 {
(green_group, Point3::new(0.0, 1.0, 0.0))
} else {
(blue_group, Point3::new(0.0, 0.0, 1.0))
};
// Build the rigid body.
let rb = RigidBodyDesc::new()
.translation(Vector3::new(x, y, z))
.build();
let rb_handle = bodies.insert(rb);
// Build the collider.
let co = ColliderDesc::new(cuboid.clone())
.density(r!(1.0))
.collision_groups(group)
.build(BodyPartHandle(rb_handle, 0));
colliders.insert(co);
testbed.set_body_color(rb_handle, color);
}
}
}
/*
* Set up the testbed.
*/
testbed.set_ground_handle(Some(ground_handle));
testbed.set_world(
mechanical_world,
geometrical_world,
bodies,
colliders,
joint_constraints,
force_generators,
);
testbed.look_at(Point3::new(-4.0, 1.0, -4.0), Point3::new(0.0, 1.0, 0.0));
}
fn main() {
let testbed = Testbed::<f32>::from_builders(0, vec![("Collision groups", init_world)]);
testbed.run()
}