66 lines
2.0 KiB
Rust
66 lines
2.0 KiB
Rust
use na::Point3;
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use rapier3d::dynamics::{BallJoint, JointSet, RigidBodyBuilder, RigidBodySet, RigidBodyType};
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use rapier3d::geometry::{ColliderBuilder, ColliderSet};
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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 joints = JointSet::new();
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let rad = 0.4;
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let num = 100;
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let shift = 1.0;
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let mut body_handles = Vec::new();
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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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let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
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RigidBodyType::Static
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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)
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.translation(fk * shift, 0.0, fi * shift)
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.build();
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad).build();
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colliders.insert(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 = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
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joints.insert(&mut bodies, parent_handle, child_handle, joint);
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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 = BallJoint::new(Point3::origin(), Point3::new(-shift, 0.0, 0.0));
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joints.insert(&mut bodies, parent_handle, child_handle, joint);
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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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* Set up the testbed.
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*/
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testbed.set_world(bodies, colliders, joints);
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testbed.look_at(
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Point3::new(-110.0, -46.0, 170.0),
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Point3::new(54.0, -38.0, 29.0),
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);
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}
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