First public release of Rapier.

examples2d/stress_joint_fixed2.rs

@@ -0,0 +1,85 @@
+use na::{Isometry2, Point2};
+use rapier2d::dynamics::{BodyStatus, FixedJoint, JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut joints = JointSet::new();
+
+    /*
+     * Create the balls
+     */
+    // Build the rigid body.
+    let rad = 0.4;
+    let num = 30; // Num vertical nodes.
+    let shift = 1.0;
+
+    let mut body_handles = Vec::new();
+
+    for xx in 0..4 {
+        let x = xx as f32 * shift * (num as f32 + 2.0);
+
+        for yy in 0..4 {
+            let y = yy as f32 * shift * (num as f32 + 4.0);
+
+            for k in 0..num {
+                for i in 0..num {
+                    let fk = k as f32;
+                    let fi = i as f32;
+
+                    let status = if k == 0 {
+                        BodyStatus::Static
+                    } else {
+                        BodyStatus::Dynamic
+                    };
+
+                    let rigid_body = RigidBodyBuilder::new(status)
+                        .translation(x + fk * shift, y - fi * shift)
+                        .build();
+                    let child_handle = bodies.insert(rigid_body);
+                    let collider = ColliderBuilder::ball(rad).density(1.0).build();
+                    colliders.insert(collider, child_handle, &mut bodies);
+
+                    // Vertical joint.
+                    if i > 0 {
+                        let parent_handle = *body_handles.last().unwrap();
+                        let joint = FixedJoint::new(
+                            Isometry2::identity(),
+                            Isometry2::translation(0.0, shift),
+                        );
+                        joints.insert(&mut bodies, parent_handle, child_handle, joint);
+                    }
+
+                    // Horizontal joint.
+                    if k > 0 {
+                        let parent_index = body_handles.len() - num;
+                        let parent_handle = body_handles[parent_index];
+                        let joint = FixedJoint::new(
+                            Isometry2::identity(),
+                            Isometry2::translation(-shift, 0.0),
+                        );
+                        joints.insert(&mut bodies, parent_handle, child_handle, joint);
+                    }
+
+                    body_handles.push(child_handle);
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(50.0, 50.0), 5.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
+    testbed.run()
+}