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
54 lines
1.7 KiB
Rust
54 lines
1.7 KiB
Rust
use rapier_testbed2d::Testbed;
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use rapier2d::prelude::*;
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// This shows a bug when a cylinder is in contact with a very large
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// but very thin cuboid. In this case the EPA returns an incorrect
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// contact normal, resulting in the cylinder falling through the floor.
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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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* The 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 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, handle, &mut bodies);
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/*
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* A rectangle that only rotate.
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*/
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(0.0, 3.0))
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.lock_translations();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(2.0, 0.6);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* A tilted capsule that cannot rotate.
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*/
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(0.0, 5.0))
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.rotation(1.0)
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.lock_rotations();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::capsule_y(0.6, 0.4);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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::ZERO, 40.0);
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}
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