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use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
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 = 100.1;
let ground_height = 0.1;
for _ in 0..6 {
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
}
// Build the dynamic box rigid body.
for _ in 0..6 {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(1.1, 0.0, 0.0)
.rotation(Vector3::new(0.8, 0.2, 0.1))
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 0.1, 1.0).build();
colliders.insert(collider, handle, &mut bodies);
}
/*
* 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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