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
74 lines
2.4 KiB
Rust
74 lines
2.4 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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* Ground
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*/
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let ground = bodies.insert(RigidBodyBuilder::fixed());
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/*
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* Create the bridge.
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*/
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let count = 40;
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let hx = 0.5;
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let density = 20.0;
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let friction = 0.6;
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let capsule = ColliderBuilder::capsule_x(hx, 0.125)
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.friction(friction)
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.density(density);
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let mut prev = ground;
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for i in 0..count {
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let rigid_body = RigidBodyBuilder::dynamic()
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.linear_damping(0.1)
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.angular_damping(0.1)
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.translation(Vector::new((1.0 + 2.0 * i as f32) * hx, count as f32 * hx));
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let handle = bodies.insert(rigid_body);
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colliders.insert_with_parent(capsule.clone(), handle, &mut bodies);
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let pivot = Vector::new((2.0 * i as f32) * hx, count as f32 * hx);
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let joint = RevoluteJointBuilder::new()
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.local_anchor1(bodies[prev].position().inverse_transform_point(pivot))
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.local_anchor2(bodies[handle].position().inverse_transform_point(pivot))
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.contacts_enabled(false);
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impulse_joints.insert(prev, handle, joint, true);
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prev = handle;
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}
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let radius = 8.0;
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let rigid_body = RigidBodyBuilder::dynamic()
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.linear_damping(0.1)
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.angular_damping(0.1)
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.translation(Vector::new(
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(1.0 + 2.0 * count as f32) * hx + radius - hx,
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count as f32 * hx,
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));
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(radius)
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.friction(friction)
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.density(density);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let pivot = Vector::new((2.0 * count as f32) * hx, count as f32 * hx);
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let joint = RevoluteJointBuilder::new()
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.local_anchor1(bodies[prev].position().inverse_transform_point(pivot))
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.local_anchor2(bodies[handle].position().inverse_transform_point(pivot))
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.contacts_enabled(false);
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impulse_joints.insert(prev, handle, joint, true);
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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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