use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;

pub fn init_world(testbed: &mut Testbed) {
    /*
     * World
     */
    let mut bodies = RigidBodySet::new();
    let mut colliders = ColliderSet::new();
    let joints = JointSet::new();

    /*
     * Ground
     */
    let ground_size = 50.0;
    let ground_height = 0.1;

    let rigid_body = RigidBodyBuilder::new_static()
        .translation(0.0, -ground_height, 0.0)
        .build();
    let handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
    colliders.insert(collider, handle, &mut bodies);

    /*
     * Create the cubes
     */
    let num = 8;
    let rad = 0.2;

    let shift = rad * 4.0 + rad;
    let centerx = shift * (num / 2) as f32;
    let centery = shift / 2.0;
    let centerz = shift * (num / 2) as f32;

    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;

    for j in 0usize..15 {
        for i in 0..num {
            for k in 0usize..num {
                let x = i as f32 * shift * 5.0 - centerx + offset;
                let y = j as f32 * (shift * 5.0) + centery + 3.0;
                let z = k as f32 * shift * 2.0 - centerz + offset;

                // Build the rigid body.
                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                let handle = bodies.insert(rigid_body);
                let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
                let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
                    .translation(rad * 10.0, rad * 10.0, 0.0)
                    .build();
                let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
                    .translation(-rad * 10.0, rad * 10.0, 0.0)
                    .build();
                colliders.insert(collider1, handle, &mut bodies);
                colliders.insert(collider2, handle, &mut bodies);
                colliders.insert(collider3, handle, &mut bodies);
            }
        }

        offset -= 0.05 * rad * (num as f32 - 1.0);
    }

    /*
     * Set up the testbed.
     */
    testbed.set_world(bodies, colliders, joints);
    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}

fn main() {
    let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
    testbed.run()
}
