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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 = 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::fixed().translation(vector![x, y, 0.0]);
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 {
// Create four bodies.
let z = i as f32 * shift * 2.0 + shift;
let positions = [
Isometry::translation(x, y, z),
Isometry::translation(x + shift, y, z),
Isometry::translation(x + shift, y, z + shift),
Isometry::translation(x, y, z + shift),
];
let mut handles = [curr_parent; 4];
for k in 0..4 {
let density = 1.0;
let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]);
handles[k] = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
colliders.insert_with_parent(collider, handles[k], &mut bodies);
}
// Setup four impulse_joints.
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJointBuilder::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJointBuilder::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJointBuilder::new(x).local_anchor2(point![shift, 0.0, 0.0]),
];
impulse_joints.insert(curr_parent, handles[0], revs[0], true);
impulse_joints.insert(handles[0], handles[1], revs[1], true);
impulse_joints.insert(handles[1], handles[2], revs[2], true);
impulse_joints.insert(handles[2], handles[3], revs[3], true);
curr_parent = handles[3];
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
}
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