impossible.rs

use rapier3d::na;
use rapier3d::parry;
use rapier3d::prelude::*;

fn main() {
    let mut rigid_body_set = RigidBodySet::new();
    let mut collider_set = ColliderSet::new();

    let start_pos = na::Isometry3::from(na::Translation3::new(-6.008857, -315.2329, -175.45639));
    let player_shape = ColliderBuilder::capsule_y(0.5, 0.5)
        .active_collision_types(ActiveCollisionTypes::all())
        .build();
    let move_dir = na::Vector3::new(0.047952335, -0.85927814, -0.509256);
    let move_dist = 0.95040697;

    let rb_pos = na::Isometry3 {
        translation: na::Translation3::new(0.0, -58.8, -14.9),
        rotation: na::UnitQuaternion::from_quaternion(na::Quaternion::new(
            -0.43301365,
            0.25000057,
            0.43301252,
            0.74999934,
        )),
    };
    let rigid_body = RigidBodyBuilder::fixed().position(rb_pos).build();
    let rigid_body_h = rigid_body_set.insert(rigid_body);

    let collider = ColliderBuilder::cuboid(10.0, 10.0, 1999.9998)
        .active_collision_types(ActiveCollisionTypes::all())
        .build();
    let collider_h = collider_set.insert_with_parent(collider, rigid_body_h, &mut rigid_body_set);

    let island_manager = IslandManager::new();
    let mut query_pipeline = QueryPipeline::new();

    rigid_body_set.propagate_modified_body_positions_to_colliders(&mut collider_set);
    query_pipeline.update(&island_manager, &rigid_body_set, &collider_set);

    let qp = query_pipeline.cast_shape(
        &rigid_body_set,
        &collider_set,
        &start_pos,
        &move_dir,
        player_shape.shape(),
        move_dist,
        true,
        QueryFilter::new(),
    );

    println!("cast result: {:?}", qp);

    let collider = collider_set.get(collider_h).unwrap();

    let mut end_pos = start_pos;
    end_pos.append_translation_mut(&na::Translation3::from(move_dir * move_dist));

    let contact = parry::query::contact(
        &rb_pos,
        collider.shape(),
        &end_pos.into(),
        player_shape.shape(),
        0.0,
    )
    .unwrap();

    println!("{:?}", contact);

    if let Some(contact) = contact {
        assert!(contact.dist >= 0.0);
    }
}