46 lines
1.4 KiB
Rust
46 lines
1.4 KiB
Rust
use na::{Point3, Vector3};
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use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
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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 joints = JointSet::new();
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/*
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* Ground
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*/
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let ground_size = 100.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::new_static().build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size)
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.friction(1.5)
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.build();
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colliders.insert(collider, handle, &mut bodies);
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// Build a dynamic box rigid body.
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 1.1, 0.0)
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.rotation(Vector3::y() * 0.3)
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(2.0, 1.0, 3.0).friction(1.5).build();
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colliders.insert(collider, handle, &mut bodies);
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let rigid_body = &mut bodies[handle];
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let force = rigid_body.position() * Vector3::z() * 50.0;
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rigid_body.set_linvel(force, 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, joints);
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testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
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}
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