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|
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
fn create_tower_circle(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector<f32>,
stack_height: usize,
nsubdivs: usize,
half_extents: Vector<f32>,
) {
let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
for j in 0..nsubdivs {
let fj = j as f32;
let fi = i as f32;
let y = fi * shift.y;
let pos = Translation::from(offset)
* Rotation::new(Vector::y() * (fi / 2.0 + fj) * ang_step)
* Translation::new(0.0, y, radius);
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().position(pos);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
fn create_wall(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector<f32>,
) {
let shift = half_extents * 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 = offset.x;
let y = fi * shift.y + offset.y;
let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
}
}
}
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector<f32>,
stack_height: usize,
half_extents: Vector<f32>,
) {
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
for j in i..stack_height {
for k in i..stack_height {
let fi = i as f32;
let fj = j as f32;
let fk = k as f32;
let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x
- stack_height as f32 * half_extents.x;
let y = fi * shift.y + offset.y;
let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
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();
/*
* Ground
*/
let ground_size = 200.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let cube_size = 1.0;
let hext = Vector::repeat(cube_size);
let bottomy = cube_size * 50.0;
create_pyramid(
&mut bodies,
&mut colliders,
vector![-110.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
vector![-80.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
vector![-50.0, bottomy, 0.0],
12,
hext,
);
create_pyramid(
&mut bodies,
&mut colliders,
vector![-20.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
vector![-2.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
vector![4.0, bottomy, 0.0],
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
vector![10.0, bottomy, 0.0],
12,
hext,
);
create_tower_circle(
&mut bodies,
&mut colliders,
vector![25.0, bottomy, 0.0],
8,
24,
hext,
);
/*
* 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());
}
|
