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(rapier) reproduction for issue 666: friction not applied #1

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(rapier) reproduction for issue 666: friction not applied #1

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40 changes: 24 additions & 16 deletions examples3d/debug_boxes3.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,23 +16,31 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 100.1;
let ground_height = 0.1;

for _ in 0..6 {
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
let ground_height = 0.1;
colliders.insert_with_parent(
ColliderBuilder::cuboid(100.1, ground_height, 100.1).friction(0.5),
bodies.insert(RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0])),
&mut bodies,
);

let (collider_mass, rigidbody_additional_mass) = (0.0, 0.5);

// NOTE: #666: uncomment this to test "expected" behaviour.
//let (collider_mass, rigidbody_additional_mass) = (0.5, 0.0);

// Build the dynamic box rigid body.
for _ in 0..2 {
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![1.1, 0.0, 0.0])
// .rotation(vector![0.8, 0.2, 0.1])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.2, 5., 1.5)
.friction(0.5)
.mass(collider_mass),
bodies.insert(
RigidBodyBuilder::dynamic()
.additional_mass(rigidbody_additional_mass)
.translation(vector![-10., 6.0, 0.0])
.linvel(vector![20., 0., 0.])
.can_sleep(false),
),
&mut bodies,
);

/*
* Set up the testbed.
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