88 lines
2.7 KiB
Rust
88 lines
2.7 KiB
Rust
use na::{Point3, Translation3, UnitQuaternion, Vector3};
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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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* Ground
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*/
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let ground_size = 200.1;
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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 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, handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let num = 4000;
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let width = 1.0;
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let thickness = 0.1;
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let colors = [Point3::new(0.7, 0.5, 0.9), Point3::new(0.6, 1.0, 0.6)];
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let mut curr_angle = 0.0;
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let mut curr_rad = 10.0;
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let mut prev_angle;
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let mut skip = 0;
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for i in 0..num {
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let perimeter = 2.0 * std::f32::consts::PI * curr_rad;
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let spacing = thickness * 4.0;
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prev_angle = curr_angle;
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curr_angle += 2.0 * std::f32::consts::PI * spacing / perimeter;
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let (x, z) = curr_angle.sin_cos();
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// Build the rigid body.
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let two_pi = 2.0 * std::f32::consts::PI;
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let nudged = curr_angle % two_pi < prev_angle % two_pi;
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let tilt = if nudged || i == num - 1 { 0.2 } else { 0.0 };
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if skip == 0 {
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let rot = UnitQuaternion::new(Vector3::y() * curr_angle);
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let tilt = UnitQuaternion::new(rot * Vector3::z() * tilt);
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let position =
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Translation3::new(x * curr_rad, width * 2.0 + ground_height, z * curr_rad)
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* tilt
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* rot;
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let rigid_body = RigidBodyBuilder::new_dynamic().position(position).build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(thickness, width * 2.0, width)
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.density(1.0)
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.build();
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colliders.insert(collider, handle, &mut bodies);
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testbed.set_body_color(handle, colors[i % 2]);
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} else {
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skip -= 1;
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}
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if nudged {
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skip = 5;
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}
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curr_rad += 1.5 / perimeter;
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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(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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