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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 = 3.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, 0.4);
let mut ground_collider_handle =
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Rolling ball
*/
let ball_rad = 0.1;
let rb = RigidBodyBuilder::dynamic().translation(vector![0.0, 0.2, 0.0]);
let ball_handle = bodies.insert(rb);
let collider = ColliderBuilder::ball(ball_rad).density(100.0);
colliders.insert_with_parent(collider, ball_handle, &mut bodies);
testbed.add_callback(move |_, physics, _, _| {
// Remove then re-add the ground collider.
let removed_collider_handle = ground_collider_handle;
let coll = physics
.colliders
.remove(
removed_collider_handle,
&mut physics.islands,
&mut physics.bodies,
true,
)
.unwrap();
ground_collider_handle =
physics
.colliders
.insert_with_parent(coll, ground_handle, &mut physics.bodies);
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
}
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