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extern crate nalgebra as na;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::harness::Harness;
pub fn init_world(harness: &mut Harness) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 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);
/*
* Create the cubes
*/
let num = 8;
let rad = 1.0;
let shift = rad * 2.0 + rad;
let shifty = rad * 4.0;
let centerx = shift * (num / 2) as f32;
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
for j in 0usize..47 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx + offset;
let y = j as f32 * shifty + centery + 3.0;
let z = k as f32 * shift - centerz + offset;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
offset -= 0.05 * rad * (num as f32 - 1.0);
}
/*
* Set up the harness.
*/
harness.set_world(bodies, colliders, joints);
}
fn main() {
let harness = &mut Harness::new_empty();
init_world(harness);
harness.set_max_steps(10000);
harness.run();
println!("{}", harness.state.timestep_id);
}
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