First public release of Rapier.

examples3d/domino3.rs

@@ -0,0 +1,87 @@
+use na::{Point3, Translation3, UnitQuaternion, Vector3};
+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 = 200.1;
+    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 num = 4000;
+    let width = 1.0;
+    let thickness = 0.1;
+
+    let colors = [Point3::new(0.7, 0.5, 0.9), Point3::new(0.6, 1.0, 0.6)];
+
+    let mut curr_angle = 0.0;
+    let mut curr_rad = 10.0;
+    let mut prev_angle;
+    let mut skip = 0;
+    for i in 0..num {
+        let perimeter = 2.0 * std::f32::consts::PI * curr_rad;
+        let spacing = thickness * 4.0;
+        prev_angle = curr_angle;
+        curr_angle += 2.0 * std::f32::consts::PI * spacing / perimeter;
+        let (x, z) = curr_angle.sin_cos();
+
+        // Build the rigid body.
+        let two_pi = 2.0 * std::f32::consts::PI;
+        let nudged = curr_angle % two_pi < prev_angle % two_pi;
+        let tilt = if nudged || i == num - 1 { 0.2 } else { 0.0 };
+
+        if skip == 0 {
+            let rot = UnitQuaternion::new(Vector3::y() * curr_angle);
+            let tilt = UnitQuaternion::new(rot * Vector3::z() * tilt);
+            let position =
+                Translation3::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
+                    * tilt
+                    * rot;
+            let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width)
+                .density(1.0)
+                .build();
+            colliders.insert(collider, handle, &mut bodies);
+            testbed.set_body_color(handle, colors[i % 2]);
+        } else {
+            skip -= 1;
+        }
+
+        if nudged {
+            skip = 5;
+        }
+
+        curr_rad += 1.5 / perimeter;
+    }
+
+    /*
+     * 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()
+}