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use na::{DMatrix, 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 = Vector3::new(100.0, 1.0, 100.0);
let nsubdivs = 20;
let heights = DMatrix::from_fn(nsubdivs + 1, nsubdivs + 1, |i, j| {
if i == 0 || i == nsubdivs || j == 0 || j == nsubdivs {
10.0
} else {
let x = i as f32 * ground_size.x / (nsubdivs as f32);
let z = j as f32 * ground_size.z / (nsubdivs as f32);
x.sin() + z.cos()
}
});
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::heightfield(heights, 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 centerx = shift * (num / 2) as f32;
let centery = shift / 2.0;
let centerz = shift * (num / 2) as f32;
for j in 0usize..20 {
for i in 0..num {
for k in 0usize..num {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery + 3.0;
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}
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