108a2a18d6
* feat: add a PID controller implementation * feat: add small rigid-body utilities + test interpolation test * fix: make scrolling weaker on macos * feat: add the option to use the PID controller in the character controller demo. * feat: add a stateless PD controller * feat(rapier_testbed): cleanup & support PidController in 2D too * chore: add comments for the PD and PID controllers * chore: update changelog * feat: rename PidErrors to PdErrors which is more accurate * fix cargo doc * chore: remove dead code * chore: make test module non-pub
86 lines
3.0 KiB
Rust
86 lines
3.0 KiB
Rust
use crate::utils::character;
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use crate::utils::character::CharacterControlMode;
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use rapier2d::control::{KinematicCharacterController, PidController};
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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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* Ground
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*/
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let ground_size = 0.75;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
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let floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height);
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colliders.insert_with_parent(collider, floor_handle, &mut bodies);
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let rigid_body =
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RigidBodyBuilder::fixed().translation(vector![-ground_size - ground_height, ground_size]);
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let floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_height, ground_size);
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colliders.insert_with_parent(collider, floor_handle, &mut bodies);
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let rigid_body =
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RigidBodyBuilder::fixed().translation(vector![ground_size + ground_height, ground_size]);
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let floor_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_height, ground_size);
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colliders.insert_with_parent(collider, floor_handle, &mut bodies);
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/*
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* Character we will control manually.
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*/
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let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3]);
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let character_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(0.15, 0.3);
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colliders.insert_with_parent(collider, character_handle, &mut bodies);
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/*
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* Tethered Ball
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*/
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let rad = 0.04;
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let rigid_body = RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
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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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let joint = RopeJointBuilder::new(2.0).local_anchor2(point![0.0, 0.0]);
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impulse_joints.insert(character_handle, child_handle, joint, true);
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/*
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* Callback to update the character based on user inputs.
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*/
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let mut control_mode = CharacterControlMode::Kinematic;
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let mut controller = KinematicCharacterController::default();
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let mut pid = PidController::default();
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testbed.add_callback(move |graphics, physics, _, _| {
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if let Some(graphics) = graphics {
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character::update_character(
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graphics,
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physics,
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&mut control_mode,
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&mut controller,
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&mut pid,
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character_handle,
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);
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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![0.0, 1.0], 100.0);
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}
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