1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
|
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 the long chain.
*/
let num = 100;
let rad = 0.2;
let shift = rad * 2.2;
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 rigid_body = RigidBodyBuilder::new(status).translation(vector![0.0, 0.0, fi * shift]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::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, -shift])
} else {
SphericalJointBuilder::new()
.local_anchor1(point![0.0, 0.0, shift / 2.0])
.local_anchor2(point![0.0, 0.0, -shift / 2.0])
};
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());
}
|
