94 lines
2.7 KiB
Rust
94 lines
2.7 KiB
Rust
use na::Point2;
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use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
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use rapier2d::geometry::{ColliderBuilder, ColliderSet};
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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 joints = JointSet::new();
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/*
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* Ground.
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*/
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let ground_size = 10.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::new_static()
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.translation(0.0, -ground_height)
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
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colliders.insert(collider, handle, &mut bodies);
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/*
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* Create the boxes
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*/
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let num = 6;
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let rad = 0.2;
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let shift = rad * 2.0;
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let centerx = shift * num as f32 / 2.0;
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let centery = shift / 2.0 + 3.04;
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for i in 0usize..num {
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for j in 0usize..num * 50 {
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let x = i as f32 * shift - centerx;
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let y = j as f32 * shift + centery;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
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colliders.insert(collider, handle, &mut bodies);
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}
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}
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/*
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* Setup a kinematic rigid body.
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*/
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let platform_body = RigidBodyBuilder::new_kinematic()
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.translation(-10.0 * rad, 1.5 + 0.8)
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.build();
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let platform_handle = bodies.insert(platform_body);
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let collider = ColliderBuilder::cuboid(rad * 10.0, rad)
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.density(1.0)
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.build();
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colliders.insert(collider, platform_handle, &mut bodies);
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/*
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* Setup a callback to control the platform.
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*/
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testbed.add_callback(move |bodies, _, _, _, time| {
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let mut platform = bodies.get_mut(platform_handle).unwrap();
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let mut next_pos = platform.position;
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let dt = 0.016;
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next_pos.translation.vector.y += (time * 5.0).sin() * dt;
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next_pos.translation.vector.x += time.sin() * 5.0 * dt;
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if next_pos.translation.vector.x >= rad * 10.0 {
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next_pos.translation.vector.x -= dt;
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}
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if next_pos.translation.vector.x <= -rad * 10.0 {
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next_pos.translation.vector.x += dt;
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}
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platform.set_next_kinematic_position(next_pos);
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});
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/*
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* Run the simulation.
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*/
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testbed.set_world(bodies, colliders, joints);
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testbed.look_at(Point2::new(0.0, 1.0), 40.0);
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}
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fn main() {
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let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
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testbed.run()
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}
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