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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();
/*
* Ground
*/
let ground_size = 0.75;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![
-ground_size - ground_height,
ground_height,
0.0
]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_height, ground_height, ground_size);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![
ground_size + ground_height,
ground_height,
0.0
]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_height, ground_height, ground_size);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![
0.0,
ground_height,
-ground_size - ground_height
]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_height);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
let rigid_body = RigidBodyBuilder::fixed().translation(vector![
0.0,
ground_height,
ground_size + ground_height
]);
let floor_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_height);
colliders.insert_with_parent(collider, floor_handle, &mut bodies);
/*
* Character we will control manually.
*/
let rigid_body =
RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3, 0.0]);
let character_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.15, 0.3, 0.15);
colliders.insert_with_parent(collider, character_handle, &mut bodies);
testbed.set_initial_body_color(character_handle, [255. / 255., 131. / 255., 244.0 / 255.]);
/*
* Tethered Ball
*/
let rad = 0.04;
let rigid_body =
RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0, 0.0]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
let joint = RopeJointBuilder::new()
.local_anchor2(point![0.0, 0.0, 0.0])
.limits([2.0, 2.0]);
impulse_joints.insert(character_handle, child_handle, joint, true);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.set_character_body(character_handle);
testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
}
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