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
102 lines
3.4 KiB
Rust
102 lines
3.4 KiB
Rust
use crate::utils::character;
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use crate::utils::character::CharacterControlMode;
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use rapier_testbed2d::Testbed;
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use rapier2d::control::{KinematicCharacterController, PidController};
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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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* Ground
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*/
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let ground_size = 3.0;
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let ground_height = 0.1;
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let rigid_body_floor = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -ground_height));
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let floor_handle = bodies.insert(rigid_body_floor);
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let floor_collider = ColliderBuilder::cuboid(ground_size, ground_height);
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colliders.insert_with_parent(floor_collider, floor_handle, &mut bodies);
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/*
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* Character we will control manually.
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*/
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let rigid_body_character =
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RigidBodyBuilder::kinematic_position_based().translation(Vector::new(0.0, 0.3));
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let character_handle = bodies.insert(rigid_body_character);
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let character_collider = ColliderBuilder::cuboid(0.15, 0.3);
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colliders.insert_with_parent(character_collider, character_handle, &mut bodies);
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/*
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* Tethered cube.
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*/
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let rad = 0.4;
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let rigid_body_cube =
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RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(Vector::new(1.0, 1.0));
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let cube_handle = bodies.insert(rigid_body_cube);
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let cube_collider = ColliderBuilder::cuboid(rad, rad);
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colliders.insert_with_parent(cube_collider, cube_handle, &mut bodies);
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/*
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* SimdRotation axis indicator ball.
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*/
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let rigid_body_ball =
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RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(Vector::new(1.0, 1.0));
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let ball_handle = bodies.insert(rigid_body_ball);
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let ball_collider = ColliderBuilder::ball(0.1);
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colliders.insert_with_parent(ball_collider, ball_handle, &mut bodies);
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/*
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* Fixed joint between rotation axis indicator and cube.
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*/
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let fixed_joint = FixedJointBuilder::new()
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.local_anchor1(Vector::new(0.0, 0.0))
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.local_anchor2(Vector::new(0.0, -0.4))
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.build();
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impulse_joints.insert(cube_handle, ball_handle, fixed_joint, true);
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/*
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* Pin slot joint between cube and ground.
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*/
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let axis = Vector::new(1.0, 1.0).normalize();
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let pin_slot_joint = PinSlotJointBuilder::new(axis)
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.local_anchor1(Vector::new(2.0, 2.0))
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.local_anchor2(Vector::new(0.0, 0.4))
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.limits([-1.0, f32::INFINITY]) // Set the limits for the pin slot joint
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.build();
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impulse_joints.insert(character_handle, cube_handle, pin_slot_joint, true);
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/*
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* Callback to update the character based on user inputs.
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*/
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let mut control_mode = CharacterControlMode::Kinematic(0.1);
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let mut controller = KinematicCharacterController::default();
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let mut pid = PidController::default();
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testbed.add_callback(move |graphics, physics, _, _| {
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if let Some(graphics) = graphics {
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character::update_character(
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graphics,
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physics,
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&mut control_mode,
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&mut controller,
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&mut pid,
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character_handle,
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);
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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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