95bd6fcfeb
* feat: switch to the new Bvh from parry for the broad-phase * chore: cargo fmt + update testbed * chore: remove the multi-grid SAP broad-phase * fix soft-ccd handling in broad-phase * Fix contact cleanup in broad-phase after collider removal * chore: clippy fixes * fix CCD regression * chore: update changelog * fix build with the parallel feature enabled * chore: remove the now useless broad-phase proxy index from colliders * fix tests
60 lines
2.0 KiB
Rust
60 lines
2.0 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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/*
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* Ground
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*/
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let ground_size = 25.0;
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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]);
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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]);
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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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/*
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* Create the trimeshes from a tessellated SVG.
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*/
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let rapier_logo_buffers = crate::utils::svg::rapier_logo();
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for (ith, (vtx, idx)) in rapier_logo_buffers.into_iter().enumerate() {
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for k in 0..5 {
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let collider = ColliderBuilder::trimesh(vtx.clone(), idx.clone())
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.unwrap()
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.contact_skin(0.2);
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let rigid_body = RigidBodyBuilder::dynamic()
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.translation(vector![ith as f32 * 8.0 - 20.0, 20.0 + k as f32 * 11.0]);
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let handle = bodies.insert(rigid_body);
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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, 20.0], 17.0);
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}
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