0b7c3b34ec
* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy * chore: update changelog * Fix warnings and tests * Release v0.32.0
83 lines
2.5 KiB
Rust
83 lines
2.5 KiB
Rust
use kiss3d::color::Color;
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use rapier_testbed3d::Testbed;
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use rapier3d::prelude::*;
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pub fn init_world(testbed: &mut Testbed) {
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/*
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* World
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*/
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let mut bodies = RigidBodySet::new();
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let mut colliders = ColliderSet::new();
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let impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Ground
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*/
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let ground_size = 200.1;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height, 0.0));
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let num = 4000;
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let width = 1.0;
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let thickness = 0.1;
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let colors = [
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Color::new(0.7, 0.5, 0.9, 1.0),
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Color::new(0.6, 1.0, 0.6, 1.0),
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];
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let mut curr_angle = 0.0;
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let mut curr_rad = 10.0;
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let mut prev_angle;
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let mut skip = 0;
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for i in 0..num {
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let perimeter = 2.0 * std::f32::consts::PI * curr_rad;
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let spacing = thickness * 4.0;
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prev_angle = curr_angle;
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curr_angle += 2.0 * std::f32::consts::PI * spacing / perimeter;
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let (x, z) = curr_angle.sin_cos();
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// Build the rigid body.
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let two_pi = 2.0 * std::f32::consts::PI;
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let nudged = curr_angle % two_pi < prev_angle % two_pi;
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let tilt = if nudged || i == num - 1 { 0.2 } else { 0.0 };
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if skip == 0 {
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let rot = Rotation::from_rotation_y(curr_angle);
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let tilt_axis = rot * Vector::Z;
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let tilt_rot = Rotation::from_axis_angle(tilt_axis, tilt);
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let position = Pose::from_parts(
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Vector::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad),
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tilt_rot * rot,
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);
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let rigid_body = RigidBodyBuilder::dynamic().pose(position);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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testbed.set_initial_body_color(handle, colors[i % 2]);
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} else {
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skip -= 1;
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}
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if nudged {
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skip = 5;
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}
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curr_rad += 1.5 / perimeter;
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}
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/*
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* Set up the testbed.
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*/
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testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
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testbed.look_at(Vec3::new(100.0, 100.0, 100.0), Vec3::ZERO);
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}
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