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use rapier3d::prelude::*;
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 = 5;
let shift = 1.0;
let mut body_handles = Vec::new();
for m in 0..10 {
let z = m as f32 * shift * (num as f32 + 2.0);
for l in 0..10 {
let y = l as f32 * shift * 3.0;
for j in 0..5 {
let x = j as f32 * shift * (num as f32) * 2.0;
for k in 0..num {
for i in 0..num {
let fk = k as f32;
let fi = i as f32;
// NOTE: the num - 2 test is to avoid two consecutive
// fixed bodies. Because physx will crash if we add
// a joint between these.
let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
RigidBodyType::Static
} else {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x + fk * shift, y, z + fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = FixedJoint::new(
Isometry::identity(),
Isometry::translation(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 = FixedJoint::new(
Isometry::identity(),
Isometry::translation(-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(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
}
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