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@XMPPwocky
Created January 6, 2023 22:03
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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);
}
}
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