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use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;
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 friction = 0.7;
/*
* Ground
*/
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
*/
let scale = 10.0;
let card_height = 0.2 * scale;
let card_thickness = 0.001 * scale;
let angle0 = 25.0 * std::f32::consts::PI / 180.0;
let angle1 = -25.0 * std::f32::consts::PI / 180.0;
let angle2 = 0.5 * std::f32::consts::PI;
let card_box = ColliderBuilder::cuboid(card_thickness, card_height).friction(friction);
let mut nb = 5;
let mut z0 = 0.0;
let mut y = card_height - 0.02 * scale;
while nb != 0 {
let mut z = z0;
for i in 0..nb {
if i != nb - 1 {
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![z + 0.25 * scale, y + card_height - 0.015 * scale])
.rotation(angle2);
let ground_handle = bodies.insert(rigid_body);
colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
}
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![z, y])
.rotation(angle1);
let ground_handle = bodies.insert(rigid_body);
colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
z += 0.175 * scale;
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![z, y])
.rotation(angle0);
let ground_handle = bodies.insert(rigid_body);
colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
z += 0.175 * scale;
}
y += card_height * 2.0 - 0.03 * scale;
z0 += 0.175 * scale;
nb -= 1;
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 2.5], 20.0);
}
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