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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 extent = 1.0;
let friction = 0.5;
/*
* Ground
*/
let ground_width = 66.0 * extent;
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::segment(
point![-0.5 * 2.0 * ground_width, 0.0],
point![0.5 * 2.0 * ground_width, 0.0],
)
.friction(friction);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the cubes
*/
for j in 0..3 {
let mut count = 10;
let offset = -20.0 * extent + 2.0 * (count as f32 + 1.0) * extent * j as f32;
let mut y = extent;
while count > 0 {
for i in 0..count {
let coeff = i as f32 - 0.5 * count as f32;
let yy = if count == 1 { y + 2.0 } else { y };
let position = vector![2.0 * coeff * extent + offset, yy];
let rigid_body = RigidBodyBuilder::dynamic().translation(position);
let parent = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(extent, extent)
.density(if count == 1 {
(j as f32 + 1.0) * 100.0
} else {
1.0
})
.friction(friction);
colliders.insert_with_parent(collider, parent, &mut bodies);
}
count -= 1;
y += 2.0 * extent;
}
}
/*
* 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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