59 lines
1.8 KiB
Rust
59 lines
1.8 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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// This shows a bug when a cylinder is in contact with a very large
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// but very thin cuboid. In this case the EPA returns an incorrect
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// contact normal, resulting in the cylinder falling through the floor.
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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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* The ground
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*/
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let ground_size = 5.0;
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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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* A rectangle that only rotate.
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*/
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 3.0)
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.lock_translations()
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(2.0, 0.6).build();
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colliders.insert(collider, handle, &mut bodies);
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/*
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* A tilted capsule that cannot rotate.
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*/
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(0.0, 5.0)
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.rotation(1.0)
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.lock_rotations()
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::capsule_y(0.6, 0.4).build();
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colliders.insert(collider, handle, &mut bodies);
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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, joints);
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testbed.look_at(Point2::new(0.0, 0.0), 40.0);
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}
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