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use rand::distributions::{Distribution, Standard};
use rand::{rngs::StdRng, SeedableRng};
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 joints = JointSet::new();
/*
* Ground
*/
let ground_size = 30.0;
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 * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 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 * 2.0])
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the convex polygons
*/
let num = 26;
let scale = 2.0;
let border_rad = 0.0;
let shift = border_rad * 2.0 + scale;
let centerx = shift * (num as f32) / 2.0;
let centery = shift / 2.0;
let mut rng = StdRng::seed_from_u64(0);
let distribution = Standard;
for i in 0..num {
for j in 0usize..num * 5 {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift * 2.0 + centery + 2.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let handle = bodies.insert(rigid_body);
let mut points = Vec::new();
for _ in 0..10 {
let pt: Point<f32> = distribution.sample(&mut rng);
points.push(pt * scale);
}
let collider = ColliderBuilder::convex_hull(&points).unwrap().build();
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(point![0.0, 50.0], 10.0);
}
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