Add missing example file.

examples2d/ccd2.rs

@@ -0,0 +1,124 @@
+use na::{Isometry2, Point2, Point3};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
+use rapier_testbed2d::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 = 25.0;
+    let ground_thickness = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true).build();
+    let ground_handle = bodies.insert(rigid_body);
+
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
+        .translation(-3.0, 0.0)
+        .build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
+        .translation(6.0, 0.0)
+        .build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
+        .translation(2.5, 0.0)
+        .sensor(true)
+        .build();
+    let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the shapes
+     */
+    let radx = 0.4;
+    let rady = 0.05;
+
+    let delta1 = Isometry2::translation(0.0, radx - rady);
+    let delta2 = Isometry2::translation(-radx + rady, 0.0);
+    let delta3 = Isometry2::translation(radx - rady, 0.0);
+
+    let mut compound_parts = Vec::new();
+    let vertical = SharedShape::cuboid(rady, radx);
+    let horizontal = SharedShape::cuboid(radx, rady);
+    compound_parts.push((delta1, horizontal));
+    compound_parts.push((delta2, vertical.clone()));
+    compound_parts.push((delta3, vertical));
+
+    let compound_shape = SharedShape::compound(compound_parts);
+
+    let num = 6;
+    let shift = (radx + 0.01) * 2.0;
+    let centerx = shift * num as f32 / 2.0 - 0.5;
+    let centery = shift / 2.0 + 4.0;
+
+    for i in 0usize..num {
+        for j in 0..num {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic()
+                .translation(x, y)
+                .linvel(100.0, -10.0)
+                .ccd_enabled(true)
+                .build();
+            let handle = bodies.insert(rigid_body);
+
+            // for part in &compound_parts {
+            //     let collider = ColliderBuilder::new(part.1.clone())
+            //         .position_wrt_parent(part.0)
+            //         .build();
+            //     colliders.insert(collider, handle, &mut bodies);
+            // }
+
+            let collider = ColliderBuilder::new(compound_shape.clone()).build();
+            // let collider = ColliderBuilder::cuboid(radx, rady).build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    // Callback that will be executed on the main loop to handle proximities.
+    testbed.add_callback(move |_, mut graphics, physics, events, _| {
+        while let Ok(prox) = events.intersection_events.try_recv() {
+            let color = if prox.intersecting {
+                Point3::new(1.0, 1.0, 0.0)
+            } else {
+                Point3::new(0.5, 0.5, 1.0)
+            };
+
+            let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
+            let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
+            if let Some(graphics) = &mut graphics {
+                if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
+                    graphics.set_body_color(parent_handle1, color);
+                }
+                if parent_handle2 != ground_handle && prox.collider2 != sensor_handle {
+                    graphics.set_body_color(parent_handle2, color);
+                }
+            }
+        }
+    });
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 2.5), 20.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}