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use na::{Point3, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
pub fn build_block(
testbed: &mut Testbed,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
half_extents: Vector3<f32>,
shift: Vector3<f32>,
mut numx: usize,
numy: usize,
mut numz: usize,
) {
let dimensions = [half_extents.xyz(), half_extents.zyx()];
let block_width = 2.0 * half_extents.z * numx as f32;
let block_height = 2.0 * half_extents.y * numy as f32;
let spacing = (half_extents.z * numx as f32 - half_extents.x) / (numz as f32 - 1.0);
let mut color0 = Point3::new(0.7, 0.5, 0.9);
let mut color1 = Point3::new(0.6, 1.0, 0.6);
for i in 0..numy {
std::mem::swap(&mut numx, &mut numz);
let dim = dimensions[i % 2];
let y = dim.y * i as f32 * 2.0;
for j in 0..numx {
let x = if i % 2 == 0 {
spacing * j as f32 * 2.0
} else {
dim.x * j as f32 * 2.0
};
for k in 0..numz {
let z = if i % 2 == 0 {
dim.z * k as f32 * 2.0
} else {
spacing * k as f32 * 2.0
};
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
x + dim.x + shift.x,
y + dim.y + shift.y,
z + dim.z + shift.z,
)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z)
.density(1.0)
.build();
colliders.insert(collider, handle, bodies);
testbed.set_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
}
}
}
// Close the top.
let dim = half_extents.zxy();
for i in 0..(block_width / (dim.x as f32 * 2.0)) as usize {
for j in 0..(block_width / (dim.z as f32 * 2.0)) as usize {
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(
i as f32 * dim.x * 2.0 + dim.x + shift.x,
dim.y + shift.y + block_height,
j as f32 * dim.z * 2.0 + dim.z + shift.z,
)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(dim.x, dim.y, dim.z)
.density(1.0)
.build();
colliders.insert(collider, handle, bodies);
testbed.set_body_color(handle, color0);
std::mem::swap(&mut color0, &mut color1);
}
}
}
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 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 half_extents = Vector3::new(0.02, 0.1, 0.4) / 2.0 * 10.0;
let mut block_height = 0.0;
// These should only be set to odd values otherwise
// the blocks won't align in the nicest way.
let numy = [0, 9, 13, 17, 21, 41];
let mut num_blocks_built = 0;
for i in (1..=5).rev() {
let numx = i;
let numy = numy[i];
let numz = numx * 3 + 1;
let block_width = numx as f32 * half_extents.z * 2.0;
build_block(
testbed,
&mut bodies,
&mut colliders,
half_extents,
Vector3::new(-block_width / 2.0, block_height, -block_width / 2.0),
numx,
numy,
numz,
);
block_height += numy as f32 * half_extents.y * 2.0 + half_extents.x * 2.0;
num_blocks_built += numx * numy * numz;
}
println!("Num keva blocks: {}", num_blocks_built);
/*
* 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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