86 lines
2.6 KiB
Rust
86 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 = 100.1;
|
|
let ground_height = 0.1;
|
|
|
|
let rigid_body = RigidBodyBuilder::new_static()
|
|
.translation(0.0, -ground_height, 0.0)
|
|
.build();
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
|
|
colliders.insert(collider, handle, &mut bodies);
|
|
|
|
/*
|
|
* Create the cubes
|
|
*/
|
|
let num = 4;
|
|
let numj = 20;
|
|
let rad = 1.0;
|
|
|
|
let shiftx = rad * 2.0 + rad;
|
|
let shifty = rad * 2.0 + rad;
|
|
let shiftz = rad * 2.0 + rad;
|
|
let centerx = shiftx * (num / 2) as f32;
|
|
let centery = shifty / 2.0;
|
|
let centerz = shiftz * (num / 2) as f32;
|
|
|
|
let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
|
|
|
|
for j in 0usize..numj {
|
|
for i in 0..num {
|
|
for k in 0usize..num {
|
|
let x = i as f32 * shiftx - centerx + offset;
|
|
let y = j as f32 * shifty + centery + 3.0;
|
|
let z = k as f32 * shiftz - centerz + offset;
|
|
|
|
// Build the rigid body.
|
|
let rigid_body = RigidBodyBuilder::new_dynamic()
|
|
.translation(x, y, z)
|
|
.linvel(0.0, -1000.0, 0.0)
|
|
.ccd_enabled(true)
|
|
.build();
|
|
let handle = bodies.insert(rigid_body);
|
|
|
|
let collider = match j % 5 {
|
|
0 => ColliderBuilder::cuboid(rad, rad, rad),
|
|
1 => ColliderBuilder::ball(rad),
|
|
// Rounded cylinders are much more efficient that cylinder, even if the
|
|
// rounding margin is small.
|
|
// 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
|
|
// 3 => ColliderBuilder::cone(rad, rad),
|
|
_ => ColliderBuilder::capsule_y(rad, rad),
|
|
};
|
|
|
|
colliders.insert(collider.build(), handle, &mut bodies);
|
|
}
|
|
}
|
|
|
|
offset -= 0.05 * rad * (num as f32 - 1.0);
|
|
}
|
|
|
|
/*
|
|
* 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()
|
|
}
|