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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 = 100.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
.friction(1.5)
.build();
colliders.insert(collider, handle, &mut bodies);
// Build a dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 1.1, 0.0)
.rotation(Vector3::y() * 0.3)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = &mut bodies[handle];
let force = rigid_body.position() * Vector3::z() * 50.0;
rigid_body.set_linvel(force, true);
/*
* 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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