rapier/benchmarks3d/joint_ball3.rs

use rapier_testbed3d::Testbed;
use rapier3d::prelude::*;

pub fn init_world(testbed: &mut Testbed) {
    /*
     * World
     */
    let mut bodies = RigidBodySet::new();
    let mut colliders = ColliderSet::new();
    let mut impulse_joints = ImpulseJointSet::new();
    let multibody_joints = MultibodyJointSet::new();

    let rad = 0.4;
    let num = 100;
    let shift = 1.0;

    let mut body_handles = Vec::new();

    for k in 0..num {
        for i in 0..num {
            let fk = k as f32;
            let fi = i as f32;

            let status = if i == 0 && (k % 4 == 0 || k == num - 1) {
                RigidBodyType::Fixed
            } else {
                RigidBodyType::Dynamic
            };

            let rigid_body =
                RigidBodyBuilder::new(status).translation(vector![fk * shift, 0.0, fi * shift]);
            let child_handle = bodies.insert(rigid_body);
            let collider = ColliderBuilder::ball(rad);
            colliders.insert_with_parent(collider, child_handle, &mut bodies);

            // Vertical joint.
            if i > 0 {
                let parent_handle = *body_handles.last().unwrap();
                let joint = SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
                impulse_joints.insert(parent_handle, child_handle, joint, true);
            }

            // Horizontal joint.
            if k > 0 {
                let parent_index = body_handles.len() - num;
                let parent_handle = body_handles[parent_index];
                let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
                impulse_joints.insert(parent_handle, child_handle, joint, true);
            }

            body_handles.push(child_handle);
        }
    }

    /*
     * Set up the testbed.
     */
    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
    testbed.look_at(point![-110.0, -46.0, 170.0], point![54.0, -38.0, 29.0]);
}