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use na::{Isometry3, Point3, Vector3};
use rapier3d::dynamics::{JointSet, RevoluteJoint, 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 = 10;
let shift = 2.0;
for l in 0..4 {
let y = l as f32 * shift * (num as f32) * 3.0;
for j in 0..50 {
let x = j as f32 * shift * 4.0;
let ground = RigidBodyBuilder::new_static()
.translation(x, y, 0.0)
.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 {
// Create four bodies.
let z = i as f32 * shift * 2.0 + shift;
let positions = [
Isometry3::translation(x, y, z),
Isometry3::translation(x + shift, y, z),
Isometry3::translation(x + shift, y, z + shift),
Isometry3::translation(x, y, z + shift),
];
let mut handles = [curr_parent; 4];
for k in 0..4 {
let density = 1.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.position(positions[k])
.build();
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.density(density)
.build();
colliders.insert(collider, handles[k], &mut bodies);
}
// Setup four joints.
let o = Point3::origin();
let x = Vector3::x_axis();
let z = Vector3::z_axis();
let revs = [
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(-shift, 0.0, 0.0), x),
RevoluteJoint::new(o, z, Point3::new(0.0, 0.0, -shift), z),
RevoluteJoint::new(o, x, Point3::new(shift, 0.0, 0.0), x),
];
joints.insert(&mut bodies, curr_parent, handles[0], revs[0]);
joints.insert(&mut bodies, handles[0], handles[1], revs[1]);
joints.insert(&mut bodies, handles[1], handles[2], revs[2]);
joints.insert(&mut bodies, handles[2], handles[3], revs[3]);
curr_parent = handles[3];
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(
Point3::new(478.0, 83.0, 228.0),
Point3::new(134.0, 83.0, -116.0),
);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
testbed.run()
}
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