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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 impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.4;
let num = 5;
let shift = 1.0;
for m in 0..8 {
let z = m as f32 * shift * (num as f32 + 2.0);
for l in 0..8 {
let y = l as f32 * shift * (num as f32) * 2.0;
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::fixed().translation(vector![x, y, z]);
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, curr_parent, &mut bodies);
for i in 0..num {
let z = z + (i + 1) as f32 * shift;
let density = 1.0;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
colliders.insert_with_parent(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
} else {
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let prism = PrismaticJointBuilder::new(axis)
.local_anchor2(point![0.0, 0.0, -shift])
.limits([-2.0, 0.0]);
impulse_joints.insert(curr_parent, curr_child, prism, true);
curr_parent = curr_child;
}
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
}
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