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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 mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let radius = 0.5;
let length = 10.0 * radius;
let rb = RigidBodyBuilder::dynamic();
let co = ColliderBuilder::ball(radius).restitution(1.0);
let n = 5;
for i in 0..n {
let (ball_pos, attach) = (
vector![i as Real * 2.2 * radius, 0.0, 0.0],
Vector::y() * length,
);
let vel = if i >= n - 1 {
vector![7.0, 0.0, 0.0]
} else {
Vector::zeros()
};
let ground = bodies.insert(RigidBodyBuilder::fixed().translation(ball_pos + attach));
let rb = rb.clone().translation(ball_pos).linvel(vel);
let handle = bodies.insert(rb);
colliders.insert_with_parent(co.clone(), handle, &mut bodies);
let joint = SphericalJointBuilder::new().local_anchor2(attach.into());
impulse_joints.insert(ground, handle, joint, true);
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
}
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