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use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
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 = 100.0f32;
let ground_height = 1.0;
let nsubdivs = 20;
let quad = rapier3d::ncollide::procedural::quad(ground_size, ground_size, nsubdivs, nsubdivs);
let indices = quad
.flat_indices()
.chunks(3)
.map(|is| Point3::new(is[0], is[2], is[1]))
.collect();
let mut vertices = quad.coords;
// ncollide generates a quad with `z` as the normal.
// so we switch z and y here and set a random altitude at each point.
for p in vertices.iter_mut() {
p.z = p.y;
p.y = (p.x.sin() + p.z.cos()) * ground_height;
if p.x.abs() == ground_size / 2.0 || p.z.abs() == ground_size / 2.0 {
p.y = 10.0;
}
}
let rigid_body = RigidBodyBuilder::new_static().build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices).build();
colliders.insert(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::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
} else {
let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
}
}
/*
* 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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