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
111 lines
3.7 KiB
Rust
111 lines
3.7 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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#[allow(clippy::excessive_precision)]
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let mut ps1 = [
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Vector::new(16.0, 0.0),
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Vector::new(14.93803712795643, 5.133601056842984),
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Vector::new(13.79871746027416, 10.24928069555078),
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Vector::new(12.56252963284711, 15.34107019122473),
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Vector::new(11.20040987372525, 20.39856541571217),
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Vector::new(9.66521217819836, 25.40369899225096),
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Vector::new(7.87179930638133, 30.3179337000085),
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Vector::new(5.635199558196225, 35.03820717801641),
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Vector::new(2.405937953536585, 39.09554102558315),
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];
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#[allow(clippy::excessive_precision)]
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let mut ps2 = [
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Vector::new(24.0, 0.0),
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Vector::new(22.33619528222415, 6.02299846205841),
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Vector::new(20.54936888969905, 12.00964361211476),
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Vector::new(18.60854610798073, 17.9470321677465),
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Vector::new(16.46769273811807, 23.81367936585418),
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Vector::new(14.05325025774858, 29.57079353071012),
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Vector::new(11.23551045834022, 35.13775818285372),
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Vector::new(7.752568160730571, 40.30450679009583),
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Vector::new(3.016931552701656, 44.28891593799322),
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];
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let scale = 0.25;
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let friction = 0.6;
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for i in 0..9 {
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ps1[i] *= scale;
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ps2[i] *= scale;
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}
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/*
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* Ground
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*/
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let collider =
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ColliderBuilder::segment(Vector::new(-100.0, 0.0), Vector::new(100.0, 0.0)).friction(0.6);
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colliders.insert(collider);
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/*
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* Create the arch
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*/
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for i in 0..8 {
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let ps = [ps1[i], ps2[i], ps2[i + 1], ps1[i + 1]];
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let rigid_body = RigidBodyBuilder::dynamic();
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::convex_hull(&ps)
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.unwrap()
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.friction(friction);
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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}
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for i in 0..8 {
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let ps = [
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Vector::new(-ps2[i].x, ps2[i].y),
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Vector::new(-ps1[i].x, ps1[i].y),
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Vector::new(-ps1[i + 1].x, ps1[i + 1].y),
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Vector::new(-ps2[i + 1].x, ps2[i + 1].y),
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];
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let rigid_body = RigidBodyBuilder::dynamic();
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::convex_hull(&ps)
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.unwrap()
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.friction(friction);
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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}
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{
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let ps = [
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ps1[8],
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ps2[8],
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Vector::new(-ps1[8].x, ps1[8].y),
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Vector::new(-ps2[8].x, ps2[8].y),
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];
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let rigid_body = RigidBodyBuilder::dynamic();
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::convex_hull(&ps)
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.unwrap()
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.friction(friction);
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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}
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for i in 0..4 {
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(0.0, 0.5 + ps2[8].y + 1.0 * i as f32));
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(2.0, 0.5).friction(friction);
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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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, 2.5), 20.0);
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}
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