rapier/examples3d/harness_capsules3.rs

use rapier_testbed3d::harness::{Harness, RapierBroadPhaseType};
use rapier3d::prelude::*;

pub fn init_world(harness: &mut Harness) {
    /*
     * 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 = 200.1;
    let ground_height = 0.1;

    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
    let handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
    colliders.insert_with_parent(collider, handle, &mut bodies);

    /*
     * Create the cubes
     */
    let num = 8;
    let rad = 1.0;

    let shift = rad * 2.0 + rad;
    let shifty = rad * 4.0;
    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..47 {
        for i in 0..num {
            for k in 0usize..num {
                let x = i as f32 * shift - centerx + offset;
                let y = j as f32 * shifty + centery + 3.0;
                let z = k as f32 * shift - centerz + offset;

                // Build the rigid body.
                let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
                let handle = bodies.insert(rigid_body);
                let collider = ColliderBuilder::capsule_y(rad, rad);
                colliders.insert_with_parent(collider, handle, &mut bodies);
            }
        }

        offset -= 0.05 * rad * (num as f32 - 1.0);
    }

    /*
     * Set up the harness.
     */
    harness.set_world(
        bodies,
        colliders,
        impulse_joints,
        multibody_joints,
        RapierBroadPhaseType::default(),
    );
}

fn main() {
    let harness = &mut Harness::new_empty();
    init_world(harness);
    harness.set_max_steps(10000);
    harness.run();
    println!("{}", harness.state.timestep_id);
}