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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 mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let use_articulations = false;
/*
* Create a chain with a very heavy ball at the end.
*/
let num = 17;
let rad = 0.2;
let mut body_handles = Vec::new();
for i in 0..num {
let fi = i as f32;
let status = if i == 0 {
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
let ball_rad = if i == num - 1 { rad * 10.0 } else { rad };
let shift1 = rad * 1.1;
let shift2 = ball_rad + rad * 0.1;
let z = if i == 0 {
0.0
} else {
(fi - 1.0) * 2.0 * shift1 + shift1 + shift2
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![0.0, 0.0, z])
.additional_solver_iterations(16);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(ball_rad);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = if i == 1 {
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift1 * 2.0])
} else {
SphericalJointBuilder::new()
.local_anchor1(point![0.0, 0.0, shift1])
.local_anchor2(point![0.0, 0.0, -shift2])
};
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}
body_handles.push(child_handle);
}
/*
* 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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