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use na::Point3;
use rapier3d::dynamics::{BallJoint, BodyStatus, 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 mut joints = JointSet::new();
let rad = 0.4;
let num = 100;
let shift = 1.0;
let mut body_handles = Vec::new();
for k in 0..num {
for i in 0..num {
let fk = k as f32;
let fi = i as f32;
let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
BodyStatus::Static
} else {
BodyStatus::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, 0.0, fi * shift)
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
joints.insert(&mut bodies, parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(-110.0, -46.0, 170.0),
Point3::new(54.0, -38.0, 29.0),
);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}
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