74 lines
2.2 KiB
Rust
74 lines
2.2 KiB
Rust
use na::Point3;
|
|
use rand::distributions::{Distribution, Standard};
|
|
use rand::{rngs::StdRng, SeedableRng};
|
|
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 = 40.0;
|
|
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 polyhedra
|
|
*/
|
|
let num = 5;
|
|
let scale = 2.0;
|
|
let border_rad = 0.1;
|
|
|
|
let shift = border_rad * 2.0 + scale;
|
|
let centerx = shift * (num / 2) as f32;
|
|
let centery = shift / 2.0;
|
|
let centerz = shift * (num / 2) as f32;
|
|
|
|
let mut rng = StdRng::seed_from_u64(0);
|
|
let distribution = Standard;
|
|
|
|
for j in 0usize..25 {
|
|
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;
|
|
|
|
let mut points = Vec::new();
|
|
for _ in 0..10 {
|
|
let pt: Point3<f32> = distribution.sample(&mut rng);
|
|
points.push(pt * scale);
|
|
}
|
|
|
|
// Build the rigid body.
|
|
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::round_convex_hull(&points, border_rad)
|
|
.unwrap()
|
|
.build();
|
|
colliders.insert(collider, handle, &mut bodies);
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, joints);
|
|
testbed.look_at(Point3::new(30.0, 30.0, 30.0), Point3::origin());
|
|
}
|