317322b31b
* feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD * Release v0.28.0 * chore: fix warnings * chore: clippy fixes * chore: more clippy fixes
79 lines
2.4 KiB
Rust
79 lines
2.4 KiB
Rust
use rand::distr::{Distribution, StandardUniform};
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use rand::{SeedableRng, rngs::StdRng};
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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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/*
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* Ground
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*/
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let ground_size = 30.0;
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let rigid_body = RigidBodyBuilder::fixed();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, 1.2);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::fixed()
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.rotation(std::f32::consts::FRAC_PI_2)
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.translation(vector![ground_size, ground_size * 2.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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let rigid_body = RigidBodyBuilder::fixed()
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.rotation(std::f32::consts::FRAC_PI_2)
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.translation(vector![-ground_size, ground_size * 2.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* Create the convex polygons
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*/
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let num = 14;
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let scale = 4.0;
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let border_rad = 0.0;
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let shift = border_rad * 2.0 + scale;
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let centerx = shift * (num as f32) / 2.0;
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let centery = shift / 2.0;
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let mut rng = StdRng::seed_from_u64(0);
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let distribution = StandardUniform;
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for i in 0..num {
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for j in 0usize..num * 4 {
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let x = i as f32 * shift - centerx;
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let y = j as f32 * shift * 2.0 + centery + 2.0;
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
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let handle = bodies.insert(rigid_body);
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let mut points = Vec::new();
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for _ in 0..10 {
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let pt: Point<f32> = distribution.sample(&mut rng);
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points.push(pt * scale);
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}
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let collider = ColliderBuilder::convex_hull(&points).unwrap();
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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, 50.0], 10.0);
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}
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