86 lines
2.5 KiB
Rust
86 lines
2.5 KiB
Rust
use na::{Point3, 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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fn create_pyramid(
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bodies: &mut RigidBodySet,
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colliders: &mut ColliderSet,
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offset: Vector3<f32>,
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stack_height: usize,
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half_extents: Vector3<f32>,
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) {
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let shift = half_extents * 2.5;
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for i in 0usize..stack_height {
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for j in i..stack_height {
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for k in i..stack_height {
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let fi = i as f32;
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let fj = j as f32;
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let fk = k as f32;
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let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x
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- stack_height as f32 * half_extents.x;
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let y = fi * shift.y + offset.y;
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let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
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- stack_height as f32 * half_extents.z;
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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 rigid_body_handle = bodies.insert(rigid_body);
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let collider =
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ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z)
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.density(1.0)
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.build();
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colliders.insert(collider, rigid_body_handle, bodies);
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}
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}
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}
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}
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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 = 50.0;
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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 ground_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, ground_handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let cube_size = 1.0;
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let hext = Vector3::repeat(cube_size);
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let bottomy = cube_size;
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create_pyramid(
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&mut bodies,
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&mut colliders,
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Vector3::new(0.0, bottomy, 0.0),
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24,
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hext,
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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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