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use na::{DVector, Point2, Vector2};
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
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 = Vector2::new(50.0, 1.0);
let nsubdivs = 2000;
let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
if i == 0 || i == nsubdivs {
80.0
} else {
(i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
}
});
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let num = 26;
let rad = 0.5;
let shift = rad * 2.0;
let centerx = shift * (num / 2) as f32;
let centery = shift / 2.0;
for i in 0..num {
for j in 0usize..num * 5 {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 50.0), 10.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
testbed.run()
}
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