103 lines
3.2 KiB
Rust
103 lines
3.2 KiB
Rust
use na::Point3;
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use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
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use rapier3d::geometry::{ColliderBuilder, ColliderSet, InteractionGroups};
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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 = 5.0;
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let ground_height = 0.1;
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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 floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
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colliders.insert(collider, floor_handle, &mut bodies);
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/*
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* Setup groups
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*/
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const GREEN_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
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const BLUE_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);
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/*
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* A green floor that will collide with the GREEN group only.
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*/
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let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
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.translation(0.0, 1.0, 0.0)
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.collision_groups(GREEN_GROUP)
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.build();
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let green_collider_handle = colliders.insert(green_floor, floor_handle, &mut bodies);
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testbed.set_collider_initial_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
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/*
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* A blue floor that will collide with the BLUE group only.
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*/
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let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
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.translation(0.0, 2.0, 0.0)
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.collision_groups(BLUE_GROUP)
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.build();
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let blue_collider_handle = colliders.insert(blue_floor, floor_handle, &mut bodies);
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testbed.set_collider_initial_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
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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 = 0.1;
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let shift = rad * 2.0;
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let centerx = shift * (num / 2) as f32;
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let centery = 2.5;
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let centerz = shift * (num / 2) as f32;
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for j in 0usize..4 {
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for i in 0..num {
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for k in 0usize..num {
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let x = i as f32 * shift - centerx;
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let y = j as f32 * shift + centery;
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let z = k as f32 * shift - centerz;
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// Alternate between the green and blue groups.
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let (group, color) = if k % 2 == 0 {
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(GREEN_GROUP, Point3::new(0.0, 1.0, 0.0))
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} else {
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(BLUE_GROUP, Point3::new(0.0, 0.0, 1.0))
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};
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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 = ColliderBuilder::cuboid(rad, rad, rad)
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.collision_groups(group)
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.build();
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colliders.insert(collider, handle, &mut bodies);
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testbed.set_body_color(handle, color);
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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(Point3::new(10.0, 10.0, 10.0), 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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