89 lines
2.6 KiB
Rust
89 lines
2.6 KiB
Rust
use na::Point3;
|
|
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
|
|
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
|
|
use rapier_testbed3d::Testbed;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let joints = JointSet::new();
|
|
|
|
/*
|
|
* Ground
|
|
*/
|
|
let ground_size = 200.0f32;
|
|
let ground_height = 1.0;
|
|
let nsubdivs = 20;
|
|
|
|
let quad = rapier3d::ncollide::procedural::quad(ground_size, ground_size, nsubdivs, nsubdivs);
|
|
let indices = quad
|
|
.flat_indices()
|
|
.chunks(3)
|
|
.map(|is| Point3::new(is[0], is[2], is[1]))
|
|
.collect();
|
|
let mut vertices = quad.coords;
|
|
|
|
// ncollide generates a quad with `z` as the normal.
|
|
// so we switch z and y here and set a random altitude at each point.
|
|
for p in vertices.iter_mut() {
|
|
p.z = p.y;
|
|
p.y = (p.x.sin() + p.z.cos()) * ground_height;
|
|
|
|
if p.x.abs() == ground_size / 2.0 || p.z.abs() == ground_size / 2.0 {
|
|
p.y = 10.0;
|
|
}
|
|
}
|
|
|
|
let rigid_body = RigidBodyBuilder::new_static().build();
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::trimesh(vertices, indices).build();
|
|
colliders.insert(collider, handle, &mut bodies);
|
|
|
|
/*
|
|
* Create the cubes
|
|
*/
|
|
let num = 8;
|
|
let rad = 1.0;
|
|
|
|
let shift = rad * 2.0 + rad;
|
|
let centerx = shift * (num / 2) as f32;
|
|
let centery = shift / 2.0;
|
|
let centerz = shift * (num / 2) as f32;
|
|
|
|
for j in 0usize..47 {
|
|
for i in 0..num {
|
|
for k in 0usize..num {
|
|
let x = i as f32 * shift - centerx;
|
|
let y = j as f32 * shift + centery + 3.0;
|
|
let z = k as f32 * shift - centerz;
|
|
|
|
// Build the rigid body.
|
|
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
|
|
let handle = bodies.insert(rigid_body);
|
|
|
|
if j % 2 == 0 {
|
|
let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
|
|
colliders.insert(collider, handle, &mut bodies);
|
|
} else {
|
|
let collider = ColliderBuilder::ball(rad).density(1.0).build();
|
|
colliders.insert(collider, handle, &mut bodies);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, joints);
|
|
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
|
|
}
|
|
|
|
fn main() {
|
|
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
|
|
testbed.run()
|
|
}
|