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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 = 0.6;
/*
* 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 rigid_body = RigidBodyBuilder::dynamic().translation(vector![-9.0 * extent, 0.5 * extent]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![9.0 * extent, 0.5 * extent]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, (10.0 + 16.0) * extent]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(10.0 * extent, 10.0 * extent).friction(friction);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* 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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