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();

    // Triangle ground.
    let width = 0.5;
    let vtx = vec![
        point![-width, 0.0, -width],
        point![width, 0.0, -width],
        point![width, 0.0, width],
        point![-width, 0.0, width],
        point![-width, -width, -width],
        point![width, -width, -width],
        point![width, -width, width],
        point![-width, -width, width],
    ];
    let idx = vec![
        [0, 2, 1],
        [0, 3, 2],
        [4, 5, 6],
        [4, 6, 7],
        [0, 4, 7],
        [0, 7, 3],
        [1, 6, 5],
        [1, 2, 6],
        [3, 7, 2],
        [2, 7, 6],
        [0, 1, 5],
        [0, 5, 4],
    ];

    // Dynamic box rigid body.
    let rigid_body = RigidBodyBuilder::dynamic()
        .translation(vector![0.0, 35.0, 0.0])
        // .rotation(Vector3::new(0.8, 0.2, 0.1))
        .can_sleep(false);
    let handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(1.0, 2.0, 1.0);
    colliders.insert_with_parent(collider, handle, &mut bodies);

    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, 0.0, 0.0]);
    let handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::trimesh(vtx, idx);
    colliders.insert_with_parent(collider, handle, &mut bodies);
    testbed.set_initial_body_color(handle, [0.3, 0.3, 0.3]);

    /*
     * Set up the testbed.
     */
    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
    testbed.look_at(point![10.0, 10.0, 10.0], Point::origin());
}
