82 lines
2.9 KiB
Rust
82 lines
2.9 KiB
Rust
use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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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 mut impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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let rad = 0.4;
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let num = 5;
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for m in 0..10 {
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let z = m as f32 * shift * (num as f32 + 2.0);
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for l in 0..10 {
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let y = l as f32 * shift * 3.0;
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for j in 0..5 {
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let x = j as f32 * shift * (num as f32) * 2.0;
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for k in 0..num {
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for i in 0..num {
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let fk = k as f32;
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let fi = i as f32;
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// NOTE: the num - 2 test is to avoid two consecutive
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// fixed bodies. Because physx will crash if we add
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// a joint between these.
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let status = if i == 0 && (k % 4 == 0 && k != num - 2 || k == num - 1) {
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RigidBodyType::Fixed
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} else {
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RigidBodyType::Dynamic
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};
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let rigid_body = RigidBodyBuilder::new(status).translation(vector![
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x + fk * shift,
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y,
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z + fi * shift
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]);
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad);
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colliders.insert_with_parent(collider, child_handle, &mut bodies);
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// Vertical joint.
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if i > 0 {
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let parent_handle = *body_handles.last().unwrap();
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let joint =
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FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
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impulse_joints.insert(parent_handle, child_handle, joint, true);
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}
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// Horizontal joint.
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if k > 0 {
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let parent_index = body_handles.len() - num;
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let parent_handle = body_handles[parent_index];
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let joint =
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FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
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impulse_joints.insert(parent_handle, child_handle, joint, true);
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}
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body_handles.push(child_handle);
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}
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}
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}
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}
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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(point![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
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}
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