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
57 lines
1.9 KiB
Rust
57 lines
1.9 KiB
Rust
use rapier_testbed2d::Testbed;
|
|
use rapier2d::prelude::*;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let mut impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
/*
|
|
* Ground
|
|
*/
|
|
let ground = bodies.insert(RigidBodyBuilder::fixed());
|
|
|
|
/*
|
|
* Create the bridge.
|
|
*/
|
|
let density = 20.0;
|
|
let x_base = -80.0;
|
|
let count = 160;
|
|
let mut prev = ground;
|
|
|
|
for i in 0..count {
|
|
let rigid_body = RigidBodyBuilder::dynamic()
|
|
.linear_damping(0.1)
|
|
.angular_damping(0.1)
|
|
.translation(Vector::new(x_base + 0.5 + 1.0 * i as f32, 20.0));
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(0.5, 0.125).density(density);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
let pivot = Vector::new(x_base + 1.0 * i as f32, 20.0);
|
|
let joint = RevoluteJointBuilder::new()
|
|
.local_anchor1(bodies[prev].position().inverse_transform_point(pivot))
|
|
.local_anchor2(bodies[handle].position().inverse_transform_point(pivot))
|
|
.contacts_enabled(false);
|
|
impulse_joints.insert(prev, handle, joint, true);
|
|
prev = handle;
|
|
}
|
|
|
|
let pivot = Vector::new(x_base + 1.0 * count as f32, 20.0);
|
|
let joint = RevoluteJointBuilder::new()
|
|
.local_anchor1(bodies[prev].position().inverse_transform_point(pivot))
|
|
.local_anchor2(bodies[ground].position().inverse_transform_point(pivot))
|
|
.contacts_enabled(false);
|
|
impulse_joints.insert(prev, ground, joint, true);
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(Vec2::new(0.0, 2.5), 20.0);
|
|
}
|