Adding a Rope Joint

2 files changed, 64 insertions, 0 deletions

diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index aa3782b..25dc73e 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -26,6 +26,7 @@ mod pyramid2;
 mod restitution2;
 mod sensor2;
 mod trimesh2;
+mod rope_joints2;
 
 fn demo_name_from_command_line() -> Option<String> {
     let mut args = std::env::args();
@@ -69,6 +70,7 @@ pub fn main() {
         ("Drum", drum2::init_world),
         ("Heightfield", heightfield2::init_world),
         ("Joints", joints2::init_world),
+        ("DistanceJoints", rope_joints2::init_world),
         ("Locked rotations", locked_rotations2::init_world),
         ("One-way platforms", one_way_platforms2::init_world),
         ("Platform", platform2::init_world),
diff --git a/examples2d/rope_joints2.rs b/examples2d/rope_joints2.rs
new file mode 100644
index 0000000..c17f592
--- /dev/null
+++ b/examples2d/rope_joints2.rs
@@ -0,0 +1,62 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 0.75;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
+
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![-ground_size - ground_height, ground_size]);
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_height, ground_size);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
+
+    let rigid_body = RigidBodyBuilder::fixed().translation(vector![ground_size + ground_height, ground_size]);
+    let floor_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_height, ground_size);
+    colliders.insert_with_parent(collider, floor_handle, &mut bodies);
+
+    /*
+     * Character we will control manually.
+     */
+    let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3]);
+    let character_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(0.15, 0.3);
+    colliders.insert_with_parent(collider, character_handle, &mut bodies);
+
+    /*
+     * Tethered Ball
+     */
+    let rad = 0.04;
+
+    let rigid_body = RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
+    let child_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::ball(rad);
+    colliders.insert_with_parent(collider, child_handle, &mut bodies);
+
+    let joint = RopeJointBuilder::new().local_anchor2(point![0.0, 0.0]).limits([2.0, 2.0]);
+    impulse_joints.insert(character_handle, child_handle, joint, true);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.set_character_body(character_handle);
+    testbed.look_at(point![0.0, 1.0], 100.0);
+}