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
80 lines
2.5 KiB
Rust
80 lines
2.5 KiB
Rust
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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* Create the boxes
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*/
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let num = 30;
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let rad = 0.2;
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let shift = rad * 2.0;
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let centerx = shift * num as f32 / 2.0;
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let centery = shift * num as f32 / 2.0;
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for i in 0usize..num {
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for j in 0usize..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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// Build the rigid body.
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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);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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}
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}
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/*
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* Setup a velocity-based kinematic rigid body.
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*/
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let platform_body = RigidBodyBuilder::kinematic_velocity_based();
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let velocity_based_platform_handle = bodies.insert(platform_body);
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let sides = [
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(10.0, 0.25, Vector::new(0.0, 10.0)),
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(10.0, 0.25, Vector::new(0.0, -10.0)),
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(0.25, 10.0, Vector::new(10.0, 0.0)),
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(0.25, 10.0, Vector::new(-10.0, 0.0)),
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];
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let balls = [
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(1.25, Vector::new(6.0, 6.0)),
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(1.25, Vector::new(-6.0, 6.0)),
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(1.25, Vector::new(6.0, -6.0)),
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(1.25, Vector::new(-6.0, -6.0)),
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];
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for (hx, hy, pos) in sides {
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let collider = ColliderBuilder::cuboid(hx, hy).translation(pos);
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colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
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}
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for (r, pos) in balls {
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let collider = ColliderBuilder::ball(r).translation(pos);
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colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
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}
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/*
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* Setup a callback to control the platform.
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*/
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testbed.add_callback(move |_, physics, _, _| {
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// Update the velocity-based kinematic body by setting its velocity.
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if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
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platform.set_angvel(-0.15, true);
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}
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});
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/*
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* Run the simulation.
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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), 40.0);
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}
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