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use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector<f32>,
stack_height: usize,
rad: f32,
) {
let shift = rad * 2.0;
for i in 0usize..stack_height {
for j in i..stack_height {
let fj = j as f32;
let fi = i as f32;
let x = (fi * shift / 2.0) + (fj - fi) * shift;
let y = fi * shift;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, 0.0] + offset);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.5;
let pyramid_count = 40;
let spacing = 4.0;
/*
* Ground
*/
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(
ground_size,
ground_height,
pyramid_count as f32 * spacing / 2.0 + ground_size,
);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
*/
for pyramid_index in 0..pyramid_count {
let bottomy = rad;
create_pyramid(
&mut bodies,
&mut colliders,
vector![
0.0,
bottomy,
(pyramid_index as f32 - pyramid_count as f32 / 2.0) * spacing
],
20,
rad,
);
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}
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