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use rapier3d::na::ComplexField;
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 impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
*/
let ground_size = vector![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);
// NOTE: make sure we use the sin/cos from simba to ensure
// cross-platform determinism of the example when the
// enhanced_determinism feature is enabled.
<f32 as ComplexField>::sin(x) + <f32 as ComplexField>::cos(z)
}
});
// Here we will build our trimesh from the mesh representation of an
// heightfield.
let heightfield = HeightField::new(heights, ground_size);
let (vertices, indices) = heightfield.to_trimesh();
let rigid_body = RigidBodyBuilder::fixed();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh_with_flags(
vertices,
indices,
TriMeshFlags::MERGE_DUPLICATE_VERTICES,
)
.unwrap();
colliders.insert_with_parent(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::dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 6 {
0 => ColliderBuilder::cuboid(rad, rad, rad),
1 => ColliderBuilder::ball(rad),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
3 => ColliderBuilder::cone(rad, rad),
4 => ColliderBuilder::capsule_y(rad, rad),
_ => {
let shapes = vec![
(
Isometry::identity(),
SharedShape::cuboid(rad, rad / 2.0, rad / 2.0),
),
(
Isometry::translation(rad, 0.0, 0.0),
SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
),
(
Isometry::translation(-rad, 0.0, 0.0),
SharedShape::cuboid(rad / 2.0, rad, rad / 2.0),
),
];
ColliderBuilder::compound(shapes)
}
};
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
}
/*
* 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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