95 lines
3.1 KiB
Rust
95 lines
3.1 KiB
Rust
use na::Point3;
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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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* Create the cubes
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*/
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let num = 8;
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let rad = 1.0;
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let shiftx = rad * 2.0 + rad;
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let shifty = rad * 2.0 + rad;
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let shiftz = rad * 2.0 + rad;
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let centerx = shiftx * (num / 2) as f32;
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let centery = shifty / 2.0;
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let centerz = shiftz * (num / 2) as f32;
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let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
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for j in 0usize..1 {
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for i in 0..1 {
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for k in 0usize..1 {
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let x = i as f32 * shiftx - centerx + offset;
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let y = j as f32 * shifty + centery - rad;
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let z = k as f32 * shiftz - centerz + offset;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
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let handle = bodies.insert(rigid_body);
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let collider = match j % 5 {
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0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
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1 => ColliderBuilder::ball(rad).build(),
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// Rounded cylinders are much more efficient that cylinder, even if the
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// rounding margin is small.
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2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
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3 => ColliderBuilder::cone(rad, rad).build(),
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_ => ColliderBuilder::capsule_y(rad, rad).build(),
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};
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colliders.insert(collider, handle, &mut bodies);
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}
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}
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offset -= 0.05 * rad * (num as f32 - 1.0);
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}
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/*
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* Ground
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*/
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testbed.add_callback(
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move |mut window, mut graphics, physics, events, run_state| {
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if run_state.timestep_id == 10 {
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let ground_size = 100.1;
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let ground_height = 2.1;
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let rigid_body = RigidBodyBuilder::new_static()
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.translation(0.0, -ground_height, 0.0)
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.build();
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let handle = physics.bodies.insert(rigid_body);
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let collider =
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ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
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physics
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.colliders
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.insert(collider, handle, &mut physics.bodies);
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if let (Some(graphics), Some(window)) = (&mut graphics, &mut window) {
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graphics.add(window, handle, &physics.bodies, &physics.colliders);
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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.physics_state_mut().gravity.fill(0.0);
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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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fn main() {
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let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
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testbed.run()
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}
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