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use rapier3d::prelude::*;
use rapier_testbed3d::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();
/*
* Ground
*/
let ground_size = 50.0;
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 num = 8;
let numy = 15;
let rad = 0.2;
let shift = rad * 4.0 + rad;
let centerx = shift * (num / 2) as f32;
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..numy {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift * 5.0 - centerx + offset;
let y = j as f32 * (shift * 5.0) + centery + 3.0;
let z = k as f32 * shift * 2.0 - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
// First option: attach several colliders to a single rigid-body.
if j < numy / 2 {
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad);
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(vector![rad * 10.0, rad * 10.0, 0.0]);
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(vector![-rad * 10.0, rad * 10.0, 0.0]);
colliders.insert_with_parent(collider1, handle, &mut bodies);
colliders.insert_with_parent(collider2, handle, &mut bodies);
colliders.insert_with_parent(collider3, handle, &mut bodies);
} else {
// Second option: create a compound shape and attach it to a single collider.
let shapes = vec![
(
Isometry::identity(),
SharedShape::cuboid(rad * 10.0, rad, rad),
),
(
Isometry::translation(rad * 10.0, rad * 10.0, 0.0),
SharedShape::cuboid(rad, rad * 10.0, rad),
),
(
Isometry::translation(-rad * 10.0, rad * 10.0, 0.0),
SharedShape::cuboid(rad, rad * 10.0, rad),
),
];
let collider = ColliderBuilder::compound(shapes);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
offset -= 0.05 * rad * (num as f32 - 1.0);
}
/*
* 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());
}
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