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use rapier2d::prelude::*;
use rapier_testbed2d::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 = 25.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 4.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 4.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let num = 26;
let numy = num * 5;
let rad = 0.5;
let shift = rad * 2.0;
let shifty = rad * 5.0;
let centerx = shift * (num as f32) / 2.0;
let centery = shift / 2.0;
for i in 0..num {
for j in 0usize..numy {
let x = i as f32 * shift - centerx;
let y = j as f32 * shifty + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
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![0.0, 50.0], 10.0);
}
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