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
89 lines
2.9 KiB
Rust
89 lines
2.9 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 mut impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Enable/disable softness.
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*/
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let settings = testbed.example_settings_mut();
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let variable_softness = settings.get_or_set_bool("Variable softness", false);
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/*
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* Create the balls
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*/
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// Build the rigid body.
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// NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
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// in order to be able to compare rapier with Box2D,
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// we set it to 0.4.
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let rad = 0.4;
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let numi = 10; // Num vertical nodes.
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let numk = 10; // Num horizontal nodes.
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for k in 0..numk {
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for i in 0..numi {
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let fk = k as f32;
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let fi = i as f32;
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let status = if i == 0 && k == 0 {
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RigidBodyType::Fixed
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} else {
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RigidBodyType::Dynamic
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};
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let rigid_body =
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RigidBodyBuilder::new(status).translation(Vector::new(fk * shift, -fi * shift));
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad);
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colliders.insert_with_parent(collider, child_handle, &mut bodies);
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let softness = if variable_softness {
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// If variable softness is enabled, joints closer to the fixed body are softer.
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SpringCoefficients {
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natural_frequency: 5.0 * (i.max(k) + 1) as f32,
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damping_ratio: 0.1 * (i.max(k) + 1) as f32,
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}
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} else {
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SpringCoefficients::joint_defaults()
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};
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// Vertical joint.
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if i > 0 {
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let parent_handle = *body_handles.last().unwrap();
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let joint = RevoluteJointBuilder::new()
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.local_anchor2(Vector::new(0.0, shift))
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.softness(softness);
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impulse_joints.insert(parent_handle, child_handle, joint, true);
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}
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// Horizontal joint.
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if k > 0 {
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let parent_index = body_handles.len() - numi;
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let parent_handle = body_handles[parent_index];
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let joint = RevoluteJointBuilder::new()
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.local_anchor2(Vector::new(-shift, 0.0))
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.softness(softness);
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impulse_joints.insert(parent_handle, child_handle, joint, true);
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}
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body_handles.push(child_handle);
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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(numk as f32 * rad, numi as f32 * -rad), 20.0);
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}
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