0b7c3b34ec
* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy * chore: update changelog * Fix warnings and tests * Release v0.32.0
91 lines
2.8 KiB
Rust
91 lines
2.8 KiB
Rust
use kiss3d::color::{BLUE, GREEN};
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use rapier_testbed2d::Testbed;
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use rapier2d::prelude::*;
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pub fn init_world(testbed: &mut Testbed) {
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/*
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* World
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*/
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let mut bodies = RigidBodySet::new();
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let mut colliders = ColliderSet::new();
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let impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Ground
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*/
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let ground_size = 5.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
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let floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height);
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colliders.insert_with_parent(collider, floor_handle, &mut bodies);
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/*
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* Setup groups
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*/
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const GREEN_GROUP: InteractionGroups =
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InteractionGroups::new(Group::GROUP_1, Group::GROUP_1, InteractionTestMode::And);
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const BLUE_GROUP: InteractionGroups =
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InteractionGroups::new(Group::GROUP_2, Group::GROUP_2, InteractionTestMode::And);
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/*
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* A green floor that will collide with the GREEN group only.
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*/
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let green_floor = ColliderBuilder::cuboid(1.0, 0.1)
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.translation(Vector::new(0.0, 1.0))
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.collision_groups(GREEN_GROUP);
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let green_collider_handle =
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colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
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testbed.set_initial_collider_color(green_collider_handle, GREEN);
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/*
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* A blue floor that will collide with the BLUE group only.
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*/
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let blue_floor = ColliderBuilder::cuboid(1.0, 0.1)
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.translation(Vector::new(0.0, 2.0))
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.collision_groups(BLUE_GROUP);
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let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
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testbed.set_initial_collider_color(blue_collider_handle, BLUE);
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/*
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* Create the cubes
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*/
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let num = 8;
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let rad = 0.1;
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let shift = rad * 2.0;
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let centerx = shift * (num / 2) as f32;
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let centery = 2.5;
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for j in 0usize..4 {
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for i in 0..num {
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let x = i as f32 * shift - centerx;
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let y = j as f32 * shift + centery;
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// Alternate between the green and blue groups.
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let (group, color) = if i % 2 == 0 {
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(GREEN_GROUP, GREEN)
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} else {
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(BLUE_GROUP, BLUE)
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};
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let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad).collision_groups(group);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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testbed.set_initial_body_color(handle, color);
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}
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}
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/*
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* Set up the testbed.
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*/
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testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
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testbed.look_at(Vec2::new(0.0, 1.0), 100.0);
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}
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