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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();
let num_levels = 4;
let stick_len = 2.0;
let stick_rad = 0.2;
/*
* Floor.
*/
let floor_body =
RigidBodyBuilder::fixed().translation(vector![0.0, -stick_len - stick_rad, 0.0]);
let floor_handle = bodies.insert(floor_body);
let floor_cube = ColliderBuilder::cuboid(stick_len, stick_len, stick_len);
colliders.insert_with_parent(floor_cube, floor_handle, &mut bodies);
/*
* Create a stack of capsule with a very heavy cube on top.
*/
for i in 0..num_levels {
let fi = i as f32;
let body = RigidBodyBuilder::dynamic().translation(vector![
0.0,
fi * stick_rad * 4.0,
-(stick_len / 2.0 - stick_rad)
]);
let handle = bodies.insert(body);
let capsule = ColliderBuilder::cuboid(stick_len / 2.0, stick_rad, stick_rad);
colliders.insert_with_parent(capsule, handle, &mut bodies);
let body = RigidBodyBuilder::dynamic().translation(vector![
0.0,
fi * stick_rad * 4.0,
(stick_len / 2.0 - stick_rad)
]);
let handle = bodies.insert(body);
let capsule = ColliderBuilder::cuboid(stick_len / 2.0, stick_rad, stick_rad);
colliders.insert_with_parent(capsule, handle, &mut bodies);
let body = RigidBodyBuilder::dynamic().translation(vector![
-(stick_len / 2.0 - stick_rad),
(fi + 0.5) * stick_rad * 4.0,
0.0
]);
let handle = bodies.insert(body);
let capsule = ColliderBuilder::cuboid(stick_rad, stick_rad, stick_len / 2.0);
colliders.insert_with_parent(capsule, handle, &mut bodies);
let body = RigidBodyBuilder::dynamic().translation(vector![
(stick_len / 2.0 - stick_rad),
(fi + 0.5) * stick_rad * 4.0,
0.0
]);
let handle = bodies.insert(body);
let capsule = ColliderBuilder::cuboid(stick_rad, stick_rad, stick_len / 2.0);
colliders.insert_with_parent(capsule, handle, &mut bodies);
}
/*
* Big cube on top.
*/
let cube_len = stick_len * 2.0;
let floor_body = RigidBodyBuilder::dynamic()
.translation(vector![
0.0,
cube_len / 2.0 + (num_levels as f32 - 0.25) * stick_rad * 4.0,
0.0
])
.additional_solver_iterations(36);
let floor_handle = bodies.insert(floor_body);
let floor_cube = ColliderBuilder::cuboid(cube_len / 2.0, cube_len / 2.0, cube_len / 2.0);
colliders.insert_with_parent(floor_cube, floor_handle, &mut bodies);
let small_mass =
MassProperties::from_cuboid(1.0, vector![stick_rad, stick_rad, stick_len / 2.0]).mass();
let big_mass =
MassProperties::from_cuboid(1.0, vector![cube_len / 2.0, cube_len / 2.0, cube_len / 2.0])
.mass();
println!("debug_cube_high_mass_ratio3: small stick mass: {small_mass}, big cube mass: {big_mass}, mass_ratio: {}", big_mass / small_mass);
/*
* 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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