77 lines
3.1 KiB
Rust
77 lines
3.1 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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/*
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* Ground
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*/
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let ground_size = 0.75;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
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let floor_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, floor_handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![-ground_size - ground_height, ground_height, 0.0]);
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let floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_height, ground_height, ground_size);
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colliders.insert_with_parent(collider, floor_handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![ground_size + ground_height, ground_height, 0.0]);
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let floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_height, ground_height, ground_size);
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colliders.insert_with_parent(collider, floor_handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, ground_height, -ground_size - ground_height]);
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let floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_height);
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colliders.insert_with_parent(collider, floor_handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, ground_height, ground_size + ground_height]);
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let floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_height);
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colliders.insert_with_parent(collider, floor_handle, &mut bodies);
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/*
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* Character we will control manually.
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*/
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let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3, 0.0]);
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let character_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.15, 0.3, 0.15);
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colliders.insert_with_parent(collider, character_handle, &mut bodies);
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testbed.set_initial_body_color(character_handle, [255. / 255., 131. / 255., 244.0 / 255.]);
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/*
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* Tethered Ball
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*/
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let rad = 0.04;
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let rigid_body = RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0, 0.0]);
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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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let joint = RopeJointBuilder::new().local_anchor2(point![0.0, 0.0, 0.0]).limits([2.0, 2.0]);
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impulse_joints.insert(character_handle, child_handle, joint, true);
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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.set_character_body(character_handle);
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testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
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}
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