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
90 lines
3.1 KiB
Rust
90 lines
3.1 KiB
Rust
use rapier_testbed2d::Testbed;
|
|
use rapier2d::prelude::*;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
/*
|
|
* Ground.
|
|
*/
|
|
let ground_size = 10.0;
|
|
let ground_height = 0.1;
|
|
|
|
let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
/*
|
|
* Create the boxes
|
|
*/
|
|
let num = 6;
|
|
let rad = 0.2;
|
|
|
|
let shift = rad * 2.0;
|
|
let centerx = shift * num as f32 / 2.0;
|
|
let centery = shift / 2.0 + 3.04;
|
|
|
|
for i in 0usize..num {
|
|
for j in 0usize..num {
|
|
let x = i as f32 * shift - centerx;
|
|
let y = j as f32 * shift + centery;
|
|
|
|
// Build the rigid body.
|
|
let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(rad, rad);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Setup a position-based kinematic rigid body.
|
|
*/
|
|
let platform_body = RigidBodyBuilder::kinematic_velocity_based()
|
|
.translation(Vector::new(-10.0 * rad, 1.5 + 0.8));
|
|
let velocity_based_platform_handle = bodies.insert(platform_body);
|
|
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
|
|
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
|
|
|
|
/*
|
|
* Setup a velocity-based kinematic rigid body.
|
|
*/
|
|
let platform_body = RigidBodyBuilder::kinematic_position_based()
|
|
.translation(Vector::new(-10.0 * rad, 2.0 + 1.5 + 0.8));
|
|
let position_based_platform_handle = bodies.insert(platform_body);
|
|
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
|
|
colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
|
|
|
|
/*
|
|
* Setup a callback to control the platform.
|
|
*/
|
|
testbed.add_callback(move |_, physics, _, run_state| {
|
|
let velocity = Vector::new(run_state.time.sin() * 5.0, (run_state.time * 5.0).sin());
|
|
|
|
// Update the velocity-based kinematic body by setting its velocity.
|
|
if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
|
|
platform.set_linvel(velocity, true);
|
|
}
|
|
|
|
// Update the position-based kinematic body by setting its next position.
|
|
if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
|
|
let mut next_tra = platform.translation();
|
|
next_tra += velocity * physics.integration_parameters.dt;
|
|
platform.set_next_kinematic_translation(next_tra);
|
|
}
|
|
});
|
|
|
|
/*
|
|
* Run the simulation.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(Vec2::new(0.0, 1.0), 40.0);
|
|
}
|