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use na::Point3;
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 = 2.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, 4.0, 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);
let rad = 1.0;
// Build the dynamic box rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 7.0 * rad, 0.0)
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 2.0 * rad, 0.0)
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Set up the testbed.
*/
testbed.look_at(Point3::new(100.0, -10.0, 100.0), Point3::origin());
testbed.set_world(bodies, colliders, joints);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}
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