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use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
) {
let shift = half_extents * 2.5;
for i in 0usize..stack_height {
for j in i..stack_height {
for k in i..stack_height {
let fi = i as f32;
let fj = j as f32;
let fk = k as f32;
let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x
- stack_height as f32 * half_extents.x;
let y = fi * shift.y + offset.y;
let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let rigid_body_handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
.density(1.0)
.build();
colliders.insert(collider, rigid_body_handle, bodies);
}
}
}
}
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 = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, ground_handle, &mut bodies);
/*
* Create the cubes
*/
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let bottomy = cube_size;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(0.0, bottomy, 0.0),
24,
hext,
);
/*
* 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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