use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;

pub fn init_world(testbed: &mut Testbed) {
    /*
     * World
     */
    let mut bodies = RigidBodySet::new();
    let mut colliders = ColliderSet::new();
    let impulse_joints = ImpulseJointSet::new();
    let multibody_joints = MultibodyJointSet::new();

    /*
     * Ground
     */
    let ground_size = 100.1;
    let ground_height = 0.1;

    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);

    // Build the dynamic box rigid body.
    let (mut vtx, idx) = Cuboid::new(vector![1.0, 1.0, 1.0]).to_trimesh();
    vtx.iter_mut()
        .for_each(|pt| *pt += vector![100.0, 100.0, 100.0]);
    let shape = SharedShape::convex_mesh(vtx, &idx).unwrap();

    for _ in 0..2 {
        let rigid_body = RigidBodyBuilder::dynamic()
            .translation(vector![-100.0, -100.0 + 10.0, -100.0])
            .can_sleep(false);
        let handle = bodies.insert(rigid_body);
        let collider = ColliderBuilder::new(shape.clone());
        colliders.insert_with_parent(collider, handle, &mut bodies);
    }

    /*
     * Set up the testbed.
     */
    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
}