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use na::{Point3, Unit, Vector3};
use rapier3d::dynamics::{JointSet, PrismaticJoint, 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 = 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::new_static().translation(x, y, z).build();
let mut curr_parent = bodies.insert(ground);
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(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::new_dynamic().translation(x, y, z).build();
let curr_child = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
colliders.insert(collider, curr_child, &mut bodies);
let axis = if i % 2 == 0 {
Unit::new_normalize(Vector3::new(1.0, 1.0, 0.0))
} else {
Unit::new_normalize(Vector3::new(-1.0, 1.0, 0.0))
};
let z = Vector3::z();
let mut prism = PrismaticJoint::new(
Point3::origin(),
axis,
z,
Point3::new(0.0, 0.0, -shift),
axis,
z,
);
prism.limits_enabled = true;
prism.limits[0] = -2.0;
prism.limits[1] = 2.0;
joints.insert(&mut bodies, curr_parent, curr_child, prism);
curr_parent = curr_child;
}
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(262.0, 63.0, 124.0),
Point3::new(101.0, 4.0, -3.0),
);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}
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