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
82 lines
2.5 KiB
Rust
82 lines
2.5 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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let friction = 0.7;
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/*
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* Ground
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*/
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let rigid_body = RigidBodyBuilder::fixed().translation(Vector::new(0.0, -2.0));
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction);
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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/*
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* Create the cubes
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*/
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let scale = 10.0;
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let card_height = 0.2 * scale;
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let card_thickness = 0.001 * scale;
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let angle0 = 25.0 * std::f32::consts::PI / 180.0;
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let angle1 = -25.0 * std::f32::consts::PI / 180.0;
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let angle2 = 0.5 * std::f32::consts::PI;
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let card_box = ColliderBuilder::cuboid(card_thickness, card_height).friction(friction);
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let mut nb = 5;
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let mut z0 = 0.0;
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let mut y = card_height - 0.02 * scale;
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while nb != 0 {
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let mut z = z0;
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for i in 0..nb {
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if i != nb - 1 {
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(
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z + 0.25 * scale,
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y + card_height - 0.015 * scale,
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))
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.rotation(angle2);
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let ground_handle = bodies.insert(rigid_body);
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colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
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}
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(z, y))
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.rotation(angle1);
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let ground_handle = bodies.insert(rigid_body);
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colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
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z += 0.175 * scale;
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(Vector::new(z, y))
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.rotation(angle0);
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let ground_handle = bodies.insert(rigid_body);
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colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies);
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z += 0.175 * scale;
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}
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y += card_height * 2.0 - 0.03 * scale;
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z0 += 0.175 * scale;
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nb -= 1;
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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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