97 lines
3.5 KiB
Rust
97 lines
3.5 KiB
Rust
use rapier3d::prelude::*;
|
|
use rapier_testbed3d::Testbed;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
/*
|
|
* Ground
|
|
*/
|
|
let ground_size = 50.0;
|
|
let ground_height = 0.1;
|
|
|
|
let rigid_body = RigidBodyBuilder::new_static()
|
|
.translation(vector![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_with_parent(collider, handle, &mut bodies);
|
|
|
|
/*
|
|
* Create the cubes
|
|
*/
|
|
let num = 8;
|
|
let numy = 15;
|
|
let rad = 0.2;
|
|
|
|
let shift = rad * 4.0 + rad;
|
|
let centerx = shift * (num / 2) as f32;
|
|
let centery = shift / 2.0;
|
|
let centerz = shift * (num / 2) as f32;
|
|
|
|
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
|
|
|
|
for j in 0usize..numy {
|
|
for i in 0..num {
|
|
for k in 0usize..num {
|
|
let x = i as f32 * shift * 5.0 - centerx + offset;
|
|
let y = j as f32 * (shift * 5.0) + centery + 3.0;
|
|
let z = k as f32 * shift * 2.0 - centerz + offset;
|
|
|
|
// Build the rigid body.
|
|
let rigid_body = RigidBodyBuilder::new_dynamic()
|
|
.translation(vector![x, y, z])
|
|
.build();
|
|
let handle = bodies.insert(rigid_body);
|
|
|
|
// First option: attach several colliders to a single rigid-body.
|
|
if j < numy / 2 {
|
|
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
|
|
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
|
|
.translation(vector![rad * 10.0, rad * 10.0, 0.0])
|
|
.build();
|
|
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
|
|
.translation(vector![-rad * 10.0, rad * 10.0, 0.0])
|
|
.build();
|
|
colliders.insert_with_parent(collider1, handle, &mut bodies);
|
|
colliders.insert_with_parent(collider2, handle, &mut bodies);
|
|
colliders.insert_with_parent(collider3, handle, &mut bodies);
|
|
} else {
|
|
// Second option: create a compound shape and attach it to a single collider.
|
|
let shapes = vec![
|
|
(
|
|
Isometry::identity(),
|
|
SharedShape::cuboid(rad * 10.0, rad, rad),
|
|
),
|
|
(
|
|
Isometry::translation(rad * 10.0, rad * 10.0, 0.0),
|
|
SharedShape::cuboid(rad, rad * 10.0, rad),
|
|
),
|
|
(
|
|
Isometry::translation(-rad * 10.0, rad * 10.0, 0.0),
|
|
SharedShape::cuboid(rad, rad * 10.0, rad),
|
|
),
|
|
];
|
|
|
|
let collider = ColliderBuilder::compound(shapes).build();
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
}
|
|
}
|
|
}
|
|
|
|
offset -= 0.05 * rad * (num as f32 - 1.0);
|
|
}
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
|
|
}
|