diff options
32 files changed, 1541 insertions, 343 deletions
diff --git a/benchmarks2d/vertical_stacks2.rs b/benchmarks2d/vertical_stacks2.rs index a415693..aaf7933 100644 --- a/benchmarks2d/vertical_stacks2.rs +++ b/benchmarks2d/vertical_stacks2.rs @@ -11,14 +11,14 @@ pub fn init_world(testbed: &mut Testbed) { let multibody_joints = MultibodyJointSet::new(); - let num = 40; + let rad = 0.5; // 50.0 / 2.0; // 0.5; let rad = 50.0 / 2.0; // 0.5; /* * Ground */ let ground_size = num as f32 * rad * 10.0; - let ground_thickness = 1.0; + let ground_thickness = 25.0; let rigid_body = RigidBodyBuilder::fixed(); let ground_handle = bodies.insert(rigid_body); @@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) { */ let shiftx_centerx = [ - (rad * 2.0, -(num as f32) * rad * 2.0 * 1.5), + (rad * 2.0 + 0.0002, -(num as f32) * rad * 2.0 * 1.5), (rad * 2.0 + rad, num as f32 * rad * 2.0 * 1.5), ]; diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs index 97aa5d0..08fd996 100644 --- a/examples2d/all_examples2.rs +++ b/examples2d/all_examples2.rs @@ -17,6 +17,7 @@ mod damping2; mod debug_box_ball2; mod debug_compression2; mod debug_total_overlap2; +mod debug_vertical_column2; mod drum2; mod heightfield2; mod joint_motor_position2; @@ -28,6 +29,17 @@ mod polyline2; mod pyramid2; mod restitution2; mod rope_joints2; +mod s2d_arch; +mod s2d_ball_and_chain; +mod s2d_bridge; +mod s2d_card_house; +mod s2d_confined; +mod s2d_far_pyramid; +mod s2d_high_mass_ratio_1; +mod s2d_high_mass_ratio_2; +mod s2d_high_mass_ratio_3; +mod s2d_joint_grid; +mod s2d_pyramid; mod sensor2; mod trimesh2; @@ -86,6 +98,21 @@ pub fn main() { ("(Debug) box ball", debug_box_ball2::init_world), ("(Debug) compression", debug_compression2::init_world), ("(Debug) total overlap", debug_total_overlap2::init_world), + ( + "(Debug) vertical column", + debug_vertical_column2::init_world, + ), + ("(s2d) high mass ratio 1", s2d_high_mass_ratio_1::init_world), + ("(s2d) high mass ratio 2", s2d_high_mass_ratio_2::init_world), + ("(s2d) high mass ratio 3", s2d_high_mass_ratio_3::init_world), + ("(s2d) confined", s2d_confined::init_world), + ("(s2d) pyramid", s2d_pyramid::init_world), + ("(s2d) card house", s2d_card_house::init_world), + ("(s2d) arch", s2d_arch::init_world), + ("(s2d) bridge", s2d_bridge::init_world), + ("(s2d) ball and chain", s2d_ball_and_chain::init_world), + ("(s2d) joint grid", s2d_joint_grid::init_world), + ("(s2d) far pyramid", s2d_far_pyramid::init_world), ]; // Lexicographic sort, with stress tests moved at the end of the list. diff --git a/examples2d/debug_vertical_column2.rs b/examples2d/debug_vertical_column2.rs new file mode 100644 index 0000000..4ca50db --- /dev/null +++ b/examples2d/debug_vertical_column2.rs @@ -0,0 +1,47 @@ +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 impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let num = 80; + let rad = 0.5; + + /* + * Ground + */ + let ground_size = 1.0; + let ground_thickness = 1.0; + + let rigid_body = RigidBodyBuilder::fixed(); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).friction(0.3); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Create the cubes + */ + + for i in 0..num { + let y = i as f32 * rad * 2.0 + ground_thickness + rad; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, y]); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(rad, rad).friction(0.3); + colliders.insert_with_parent(collider, handle, &mut bodies); + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + // testbed.harness_mut().physics.gravity.y = -981.0; + testbed.look_at(point![0.0, 2.5], 5.0); +} diff --git a/examples2d/s2d_arch.rs b/examples2d/s2d_arch.rs new file mode 100644 index 0000000..ea92e66 --- /dev/null +++ b/examples2d/s2d_arch.rs @@ -0,0 +1,107 @@ +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 impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let mut ps1 = [ + Point::new(16.0, 0.0), + Point::new(14.93803712795643, 5.133601056842984), + Point::new(13.79871746027416, 10.24928069555078), + Point::new(12.56252963284711, 15.34107019122473), + Point::new(11.20040987372525, 20.39856541571217), + Point::new(9.66521217819836, 25.40369899225096), + Point::new(7.87179930638133, 30.3179337000085), + Point::new(5.635199558196225, 35.03820717801641), + Point::new(2.405937953536585, 39.09554102558315), + ]; + + let mut ps2 = [ + Point::new(24.0, 0.0), + Point::new(22.33619528222415, 6.02299846205841), + Point::new(20.54936888969905, 12.00964361211476), + Point::new(18.60854610798073, 17.9470321677465), + Point::new(16.46769273811807, 23.81367936585418), + Point::new(14.05325025774858, 29.57079353071012), + Point::new(11.23551045834022, 35.13775818285372), + Point::new(7.752568160730571, 40.30450679009583), + Point::new(3.016931552701656, 44.28891593799322), + ]; + + let scale = 0.25; + let friction = 0.6; + + for i in 0..9 { + ps1[i] *= scale; + ps2[i] *= scale; + } + + /* + * Ground + */ + let collider = ColliderBuilder::segment(point![-100.0, 0.0], point![100.0, 0.0]).friction(0.6); + colliders.insert(collider); + + /* + * Create the arch + */ + for i in 0..8 { + let ps = [ps1[i], ps2[i], ps2[i + 1], ps1[i + 1]]; + let rigid_body = RigidBodyBuilder::dynamic(); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::convex_hull(&ps) + .unwrap() + .friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + } + + for i in 0..8 { + let ps = [ + point![-ps2[i].x, ps2[i].y], + point![-ps1[i].x, ps1[i].y], + point![-ps1[i + 1].x, ps1[i + 1].y], + point![-ps2[i + 1].x, ps2[i + 1].y], + ]; + let rigid_body = RigidBodyBuilder::dynamic(); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::convex_hull(&ps) + .unwrap() + .friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + } + + { + let ps = [ + ps1[8], + ps2[8], + point![-ps1[8].x, ps1[8].y], + point![-ps2[8].x, ps2[8].y], + ]; + let rigid_body = RigidBodyBuilder::dynamic(); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::convex_hull(&ps) + .unwrap() + .friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + } + + for i in 0..4 { + let rigid_body = + RigidBodyBuilder::dynamic().translation(vector![0.0, 0.5 + ps2[8].y + 1.0 * i as f32]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(2.0, 0.5).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5], 20.0); +} diff --git a/examples2d/s2d_ball_and_chain.rs b/examples2d/s2d_ball_and_chain.rs new file mode 100644 index 0000000..cbc1a1f --- /dev/null +++ b/examples2d/s2d_ball_and_chain.rs @@ -0,0 +1,74 @@ +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 = bodies.insert(RigidBodyBuilder::fixed()); + + /* + * Create the bridge. + */ + let count = 40; + let hx = 0.5; + let density = 20.0; + let friction = 0.6; + let capsule = ColliderBuilder::capsule_x(hx, 0.125) + .friction(friction) + .density(20.0); + + let mut prev = ground; + for i in 0..count { + let rigid_body = RigidBodyBuilder::dynamic() + .linear_damping(0.1) + .angular_damping(0.1) + .translation(vector![(1.0 + 2.0 * i as f32) * hx, count as f32 * hx]); + let handle = bodies.insert(rigid_body); + colliders.insert_with_parent(capsule.clone(), handle, &mut bodies); + + let pivot = point![(2.0 * i as f32) * hx, count as f32 * hx]; + let joint = RevoluteJointBuilder::new() + .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot)) + .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot)) + .contacts_enabled(false); + impulse_joints.insert(prev, handle, joint, true); + prev = handle; + } + + let radius = 8.0; + let rigid_body = RigidBodyBuilder::dynamic() + .linear_damping(0.1) + .angular_damping(0.1) + .translation(vector![ + (1.0 + 2.0 * count as f32) * hx + radius - hx, + count as f32 * hx + ]); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::ball(radius) + .friction(friction) + .density(20.0); + colliders.insert_with_parent(collider, handle, &mut bodies); + + let pivot = point![(2.0 * count as f32) * hx, count as f32 * hx]; + let joint = RevoluteJointBuilder::new() + .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot)) + .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot)) + .contacts_enabled(false); + impulse_joints.insert(prev, handle, joint, true); + prev = handle; + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5], 20.0); +} diff --git a/examples2d/s2d_bridge.rs b/examples2d/s2d_bridge.rs new file mode 100644 index 0000000..712997e --- /dev/null +++ b/examples2d/s2d_bridge.rs @@ -0,0 +1,56 @@ +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 = bodies.insert(RigidBodyBuilder::fixed()); + + /* + * Create the bridge. + */ + let density = 20.0; + let x_base = -80.0; + let count = 160; + let mut prev = ground; + + for i in 0..count { + let rigid_body = RigidBodyBuilder::dynamic() + .linear_damping(0.1) + .angular_damping(0.1) + .translation(vector![x_base + 0.5 + 1.0 * i as f32, 20.0]); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(0.5, 0.125).density(20.0); + colliders.insert_with_parent(collider, handle, &mut bodies); + + let pivot = point![x_base + 1.0 * i as f32, 20.0]; + let joint = RevoluteJointBuilder::new() + .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot)) + .local_anchor2(bodies[handle].position().inverse_transform_point(&pivot)) + .contacts_enabled(false); + impulse_joints.insert(prev, handle, joint, true); + prev = handle; + } + + let pivot = point![x_base + 1.0 * count as f32, 20.0]; + let joint = RevoluteJointBuilder::new() + .local_anchor1(bodies[prev].position().inverse_transform_point(&pivot)) + .local_anchor2(bodies[ground].position().inverse_transform_point(&pivot)) + .contacts_enabled(false); + impulse_joints.insert(prev, ground, joint, true); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5], 20.0); +} diff --git a/examples2d/s2d_card_house.rs b/examples2d/s2d_card_house.rs new file mode 100644 index 0000000..0862062 --- /dev/null +++ b/examples2d/s2d_card_house.rs @@ -0,0 +1,79 @@ +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 impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let extent = 1.0; + let friction = 0.7; + + /* + * Ground + */ + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Create the cubes + */ + let scale = 10.0; + let card_height = 0.2 * scale; + let card_thickness = 0.001 * scale; + let angle0 = 25.0 * std::f32::consts::PI / 180.0; + let angle1 = -25.0 * std::f32::consts::PI / 180.0; + let angle2 = 0.5 * std::f32::consts::PI; + + let card_box = ColliderBuilder::cuboid(card_thickness, card_height).friction(friction); + + let mut nb = 5; + let mut z0 = 0.0; + let mut y = card_height - 0.02 * scale; + + while nb != 0 { + let mut z = z0; + + for i in 0..nb { + if i != nb - 1 { + let rigid_body = RigidBodyBuilder::dynamic() + .translation(vector![z + 0.25 * scale, y + card_height - 0.015 * scale]) + .rotation(angle2); + let ground_handle = bodies.insert(rigid_body); + colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies); + } + + let rigid_body = RigidBodyBuilder::dynamic() + .translation(vector![z, y]) + .rotation(angle1); + let ground_handle = bodies.insert(rigid_body); + colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies); + + z += 0.175 * scale; + + let rigid_body = RigidBodyBuilder::dynamic() + .translation(vector![z, y]) + .rotation(angle0); + let ground_handle = bodies.insert(rigid_body); + colliders.insert_with_parent(card_box.clone(), ground_handle, &mut bodies); + + z += 0.175 * scale; + } + + y += card_height * 2.0 - 0.03 * scale; + z0 += 0.175 * scale; + nb -= 1; + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5], 20.0); +} diff --git a/examples2d/s2d_confined.rs b/examples2d/s2d_confined.rs new file mode 100644 index 0000000..46cae86 --- /dev/null +++ b/examples2d/s2d_confined.rs @@ -0,0 +1,65 @@ +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 impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let radius = 0.5; + let grid_count = 25; + let friction = 0.6; + let max_count = grid_count * grid_count; + + /* + * Ground + */ + let collider = + ColliderBuilder::capsule(point![-10.5, 0.0], point![10.5, 0.0], radius).friction(friction); + colliders.insert(collider); + let collider = ColliderBuilder::capsule(point![-10.5, 0.0], point![-10.5, 20.5], radius) + .friction(friction); + colliders.insert(collider); + let collider = + ColliderBuilder::capsule(point![10.5, 0.0], point![10.5, 20.5], radius).friction(friction); + colliders.insert(collider); + let collider = ColliderBuilder::capsule(point![-10.5, 20.5], point![10.5, 20.5], radius) + .friction(friction); + colliders.insert(collider); + + /* + * Create the spheres + */ + let mut row = 0; + let mut count = 0; + let mut column = 0; + + while count < max_count { + row = 0; + for i in 0..grid_count { + let x = -8.75 + column as f32 * 18.0 / (grid_count as f32); + let y = 1.5 + row as f32 * 18.0 / (grid_count as f32); + let body = RigidBodyBuilder::dynamic() + .translation(vector![x, y]) + .gravity_scale(0.0); + let body_handle = bodies.insert(body); + let ball = ColliderBuilder::ball(radius).friction(friction); + colliders.insert_with_parent(ball, body_handle, &mut bodies); + + count += 1; + row += 1; + } + + column += 1; + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5], 20.0); +} diff --git a/examples2d/s2d_far_pyramid.rs b/examples2d/s2d_far_pyramid.rs new file mode 100644 index 0000000..f5e34c0 --- /dev/null +++ b/examples2d/s2d_far_pyramid.rs @@ -0,0 +1,51 @@ +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 impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let origin = vector![100_000.0, -80_000.0]; + let extent = 1.0; + let friction = 0.6; + + /* + * Ground + */ + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -1.0] + origin); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(100.0, 1.0).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Create the cubes + */ + let base_count = 10; + + let h = 0.5; + let shift = 1.25 * h; + + for i in 0..base_count { + let y = (2.0 * i as f32 + 1.0) * shift + 0.5; + + for j in i..base_count { + let x = (i as f32 + 1.0) * shift + 2.0 * (j as f32 - i as f32) * shift + - h * base_count as f32; + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y] + origin); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(h, h).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + } + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5] + origin, 20.0); +} diff --git a/examples2d/s2d_high_mass_ratio_1.rs b/examples2d/s2d_high_mass_ratio_1.rs new file mode 100644 index 0000000..b211a5e --- /dev/null +++ b/examples2d/s2d_high_mass_ratio_1.rs @@ -0,0 +1,66 @@ +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 impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let extent = 1.0; + let friction = 0.5; + + /* + * Ground + */ + let ground_width = 66.0 * extent; + + let rigid_body = RigidBodyBuilder::fixed(); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::segment( + point![-0.5 * 2.0 * ground_width, 0.0], + point![0.5 * 2.0 * ground_width, 0.0], + ) + .friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Create the cubes + */ + + for j in 0..3 { + let mut count = 10; + let offset = -20.0 * extent + 2.0 * (count as f32 + 1.0) * extent * j as f32; + let mut y = extent; + + while count > 0 { + for i in 0..count { + let coeff = i as f32 - 0.5 * count as f32; + let yy = if count == 1 { y + 2.0 } else { y }; + let position = vector![2.0 * coeff * extent + offset, yy]; + let rigid_body = RigidBodyBuilder::dynamic().translation(position); + let parent = bodies.insert(rigid_body); + + let collider = ColliderBuilder::cuboid(extent, extent) + .density(if count == 1 { + (j as f32 + 1.0) * 100.0 + } else { + 1.0 + }) + .friction(friction); + colliders.insert_with_parent(collider, parent, &mut bodies); + } + + count -= 1; + y += 2.0 * extent; + } + } + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5], 20.0); +} diff --git a/examples2d/s2d_high_mass_ratio_2.rs b/examples2d/s2d_high_mass_ratio_2.rs new file mode 100644 index 0000000..518df95 --- /dev/null +++ b/examples2d/s2d_high_mass_ratio_2.rs @@ -0,0 +1,53 @@ +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 impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let extent = 1.0; + let friction = 0.6; + + /* + * Ground + */ + let ground_width = 66.0 * extent; + + let rigid_body = RigidBodyBuilder::fixed(); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::segment( + point![-0.5 * 2.0 * ground_width, 0.0], + point![0.5 * 2.0 * ground_width, 0.0], + ) + .friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Create the cubes + */ + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![-9.0 * extent, 0.5 * extent]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![9.0 * extent, 0.5 * extent]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, (10.0 + 16.0) * extent]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(10.0 * extent, 10.0 * extent).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5], 20.0); +} diff --git a/examples2d/s2d_high_mass_ratio_3.rs b/examples2d/s2d_high_mass_ratio_3.rs new file mode 100644 index 0000000..f8dd3ee --- /dev/null +++ b/examples2d/s2d_high_mass_ratio_3.rs @@ -0,0 +1,49 @@ +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 impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let extent = 1.0; + let friction = 0.6; + + /* + * Ground + */ + let ground_width = 66.0 * extent; + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -2.0]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(40.0, 2.0).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Create the cubes + */ + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![-9.0 * extent, 0.5 * extent]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![9.0 * extent, 0.5 * extent]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(0.5 * extent, 0.5 * extent).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, (10.0 + 16.0) * extent]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(10.0 * extent, 10.0 * extent).friction(friction); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.look_at(point![0.0, 2.5], 20.0); +} diff --git a/examples2d/s2d_joint_grid.rs b/examples2d/s2d_joint_grid.rs new file mode 100644 index 0000000..97cea07 --- /dev/null +++ b/examples2d/s2d_joint_grid.rs @@ -0,0 +1,68 @@ +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 = bodies.insert(RigidBodyBuilder::fixed()); + + /* + * Create the bridge. + */ + let rad = 0.4; + let numi = 100; + let numk = 100; + let shift = 1.0; + let mut index = 0; |