69 lines
2.2 KiB
Rust
69 lines
2.2 KiB
Rust
use rapier2d::prelude::*;
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use rapier_testbed2d::Testbed;
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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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* Create the balls
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*/
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// Build the rigid body.
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// NOTE: a smaller radius (e.g. 0.1) breaks Box2D so
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// in order to be able to compare rapier with Box2D,
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// we set it to 0.4.
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let rad = 0.4;
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let numi = 10; // Num vertical nodes.
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let numk = 10; // Num horizontal nodes.
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let shift = 1.0;
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let mut body_handles = Vec::new();
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for k in 0..numk {
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for i in 0..numi {
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let fk = k as f32;
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let fi = i as f32;
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let status = if i == 0 && k == 0 {
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RigidBodyType::Static
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} else {
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RigidBodyType::Dynamic
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};
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let rigid_body =
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RigidBodyBuilder::new(status).translation(vector![fk * shift, -fi * shift]);
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let child_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad);
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colliders.insert_with_parent(collider, child_handle, &mut bodies);
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// Vertical joint.
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if i > 0 {
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let parent_handle = *body_handles.last().unwrap();
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let joint = RevoluteJointBuilder::new().local_anchor2(point![0.0, shift]);
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impulse_joints.insert(parent_handle, child_handle, joint);
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}
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// Horizontal joint.
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if k > 0 {
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let parent_index = body_handles.len() - numi;
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let parent_handle = body_handles[parent_index];
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let joint = RevoluteJointBuilder::new().local_anchor2(point![-shift, 0.0]);
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impulse_joints.insert(parent_handle, child_handle, joint);
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}
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body_handles.push(child_handle);
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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(point![numk as f32 * rad, numi as f32 * -rad], 20.0);
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}
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