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use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, HalfSpace, SharedShape};
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 rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let halfspace = SharedShape::new(HalfSpace::new(Vector3::y_axis()));
let collider = ColliderBuilder::new(halfspace).build();
colliders.insert(collider, handle, &mut bodies);
let mut curr_y = 0.0;
let mut curr_width = 10_000.0;
for _ in 0..12 {
let curr_height = 0.1f32.min(curr_width);
curr_y += curr_height * 4.0;
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, curr_y, 0.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(curr_width, curr_height, curr_width).build();
colliders.insert(collider, handle, &mut bodies);
curr_width /= 5.0;
}
/*
* 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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