76 lines
2.5 KiB
Rust
76 lines
2.5 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 joints = JointSet::new();
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let rad = 0.4;
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let num = 5;
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let shift = 1.0;
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for m in 0..8 {
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let z = m as f32 * shift * (num as f32 + 2.0);
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for l in 0..8 {
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let y = l as f32 * shift * (num as f32) * 2.0;
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for j in 0..50 {
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let x = j as f32 * shift * 4.0;
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let ground = RigidBodyBuilder::new_static()
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.translation(vector![x, y, z])
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.build();
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let mut curr_parent = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
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colliders.insert_with_parent(collider, curr_parent, &mut bodies);
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for i in 0..num {
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let z = z + (i + 1) as f32 * shift;
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let density = 1.0;
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(vector![x, y, z])
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.build();
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let curr_child = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad, rad)
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.density(density)
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.build();
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colliders.insert_with_parent(collider, curr_child, &mut bodies);
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let axis = if i % 2 == 0 {
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UnitVector::new_normalize(vector![1.0, 1.0, 0.0])
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} else {
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UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
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};
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let z = Vector::z();
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let mut prism = PrismaticJoint::new(
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Point::origin(),
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axis,
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z,
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point![0.0, 0.0, -shift],
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axis,
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z,
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);
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prism.limits_enabled = true;
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prism.limits[0] = -2.0;
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prism.limits[1] = 2.0;
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joints.insert(curr_parent, curr_child, prism);
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curr_parent = curr_child;
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}
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}
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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(point![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
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}
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