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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 heights = DMatrix::zeros(100, 100);
let heightfield = HeightField::new(heights, vector![60.0, 1.0, 60.0]);
let rotation = vector![0.0, 0.0, 0.0]; // vector![-0.1, 0.0, 0.0];
colliders
.insert(ColliderBuilder::new(SharedShape::new(heightfield.clone())).rotation(rotation));
// let mut trimesh = TriMesh::from(heightfield);
// trimesh.set_flags(TriMeshFlags::MERGE_DUPLICATE_VERTICES)
// colliders.insert(ColliderBuilder::new(SharedShape::new(trimesh.clone())).rotation(rotation));
// // NOTE: we add a sensor just because we want the testbed to display the mesh’s wireframe.
// colliders.insert(
// ColliderBuilder::new(SharedShape::new(trimesh))
// .sensor(true)
// .rotation(rotation),
// );
// Dynamic rigid bodies.
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![4.0, 0.5, 0.0])
.linvel(vector![0.0, -40.0, 20.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(0.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![0.0, 0.5, 0.0])
.linvel(vector![0.0, -4.0, 20.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.5, 0.5, 0.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![8.0, 0.2, 0.0])
.linvel(vector![0.0, -4.0, 20.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cylinder(0.5, 0.2).rotation(vector![0.0, 0.0, std::f32::consts::PI / 2.0]);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
* 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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