1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
|
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();
/*
* Create the cubes
*/
let num = 10;
let rad = 0.2;
let subdiv = 1.0 / (num as f32);
for i in 0usize..num {
let (x, y) = (i as f32 * subdiv * std::f32::consts::PI * 2.0).sin_cos();
// Build the rigid body.
let rb = RigidBodyBuilder::dynamic()
.translation(vector![x, y, 0.0])
.linvel(vector![x * 10.0, y * 10.0, 0.0])
.angvel(Vector::z() * 100.0)
.linear_damping((i + 1) as f32 * subdiv * 10.0)
.angular_damping((num - i) as f32 * subdiv * 10.0);
let rb_handle = bodies.insert(rb);
// Build the collider.
let co = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(co, rb_handle, &mut bodies);
}
/*
* Set up the testbed.
*/
testbed.set_world_with_params(
bodies,
colliders,
impulse_joints,
multibody_joints,
Vector::zeros(),
(),
);
testbed.look_at(point![2.0, 2.5, 20.0], point![2.0, 2.5, 0.0]);
}
|
