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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();
let num = 80;
let rad = 0.5;
/*
* Ground
*/
let ground_size = num as f32 * rad * 10.0;
let ground_thickness = 1.0;
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
*/
let shiftx_centerx = [
(rad * 2.0 + 0.0002, -(num as f32) * rad * 2.0 * 1.5),
(rad * 2.0 + rad, num as f32 * rad * 2.0 * 1.5),
];
for (shiftx, centerx) in shiftx_centerx {
let shifty = rad * 2.0;
let centery = shifty / 2.0 + ground_thickness;
for i in 0..num {
for j in 0usize..1 + i * 2 {
let fj = j as f32;
let fi = i as f32;
let x = (fj - fi) * shiftx + centerx;
let y = (num as f32 - fi - 1.0) * shifty + centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
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, 2.5], 5.0);
}
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