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use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
use rapier_testbed3d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 5.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, floor_handle, &mut bodies);
/*
* Setup groups
*/
const GREEN_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
const BLUE_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);
/*
* A green floor that will collide with the GREEN group only.
*/
let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
.translation(0.0, 1.0, 0.0)
.collision_groups(GREEN_GROUP)
.build();
let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
/*
* A blue floor that will collide with the BLUE group only.
*/
let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
.translation(0.0, 2.0, 0.0)
.collision_groups(BLUE_GROUP)
.build();
let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
/*
* Create the cubes
*/
let num = 8;
let rad = 0.1;
let shift = rad * 2.0;
let centerx = shift * (num / 2) as f32;
let centery = 2.5;
let centerz = shift * (num / 2) as f32;
for j in 0usize..4 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery;
let z = k as f32 * shift - centerz;
// Alternate between the green and blue groups.
let (group, color) = if k % 2 == 0 {
(GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
} else {
(BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
};
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad, rad)
.collision_groups(group)
.build();
colliders.insert(collider, handle, &mut bodies);
testbed.set_body_color(handle, color);
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(10.0, 10.0, 10.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}
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