diff options
Diffstat (limited to 'examples2d/ccd2.rs')
| -rw-r--r-- | examples2d/ccd2.rs | 53 |
1 files changed, 31 insertions, 22 deletions
diff --git a/examples2d/ccd2.rs b/examples2d/ccd2.rs index 18a6bfe..1f25586 100644 --- a/examples2d/ccd2.rs +++ b/examples2d/ccd2.rs @@ -1,6 +1,4 @@ -use na::{Isometry2, Point2, Point3}; -use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; -use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape}; +use rapier2d::prelude::*; use rapier_testbed2d::Testbed; pub fn init_world(testbed: &mut Testbed) { @@ -21,23 +19,24 @@ pub fn init_world(testbed: &mut Testbed) { let ground_handle = bodies.insert(rigid_body); let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build(); - colliders.insert(collider, ground_handle, &mut bodies); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); let collider = ColliderBuilder::cuboid(ground_thickness, ground_size) - .translation(-3.0, 0.0) + .translation(vector![-3.0, 0.0]) .build(); - colliders.insert(collider, ground_handle, &mut bodies); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); let collider = ColliderBuilder::cuboid(ground_thickness, ground_size) - .translation(6.0, 0.0) + .translation(vector![6.0, 0.0]) .build(); - colliders.insert(collider, ground_handle, &mut bodies); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); let collider = ColliderBuilder::cuboid(ground_thickness, ground_size) - .translation(2.5, 0.0) + .translation(vector![2.5, 0.0]) .sensor(true) + .active_events(ActiveEvents::INTERSECTION_EVENTS) .build(); - let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies); + let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies); /* * Create the shapes @@ -45,9 +44,9 @@ pub fn init_world(testbed: &mut Testbed) { let radx = 0.4; let rady = 0.05; - let delta1 = Isometry2::translation(0.0, radx - rady); - let delta2 = Isometry2::translation(-radx + rady, 0.0); - let delta3 = Isometry2::translation(radx - rady, 0.0); + let delta1 = Isometry::translation(0.0, radx - rady); + let delta2 = Isometry::translation(-radx + rady, 0.0); + let delta3 = Isometry::translation(radx - rady, 0.0); let mut compound_parts = Vec::new(); let vertical = SharedShape::cuboid(rady, radx); @@ -70,8 +69,8 @@ pub fn init_world(testbed: &mut Testbed) { // Build the rigid body. let rigid_body = RigidBodyBuilder::new_dynamic() - .translation(x, y) - .linvel(100.0, -10.0) + .translation(vector![x, y]) + .linvel(vector![100.0, -10.0]) .ccd_enabled(true) .build(); let handle = bodies.insert(rigid_body); @@ -80,12 +79,12 @@ pub fn init_world(testbed: &mut Testbed) { // let collider = ColliderBuilder::new(part.1.clone()) // .position_wrt_parent(part.0) // .build(); - // colliders.insert(collider, handle, &mut bodies); + // colliders.insert_with_parent(collider, handle, &mut bodies); // } let collider = ColliderBuilder::new(compound_shape.clone()).build(); // let collider = ColliderBuilder::cuboid(radx, rady).build(); - colliders.insert(collider, handle, &mut bodies); + colliders.insert_with_parent(collider, handle, &mut bodies); } } @@ -93,13 +92,23 @@ pub fn init_world(testbed: &mut Testbed) { testbed.add_callback(move |mut graphics, physics, events, _| { while let Ok(prox) = events.intersection_events.try_recv() { let color = if prox.intersecting { - Point3::new(1.0, 1.0, 0.0) + [1.0, 1.0, 0.0] } else { - Point3::new(0.5, 0.5, 1.0) + [0.5, 0.5, 1.0] }; - let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent(); - let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent(); + let parent_handle1 = physics + .colliders + .get(prox.collider1) + .unwrap() + .parent() + .unwrap(); + let parent_handle2 = physics + .colliders + .get(prox.collider2) + .unwrap() + .parent() + .unwrap(); if let Some(graphics) = &mut graphics { if parent_handle1 != ground_handle && prox.collider1 != sensor_handle { graphics.set_body_color(parent_handle1, color); @@ -115,5 +124,5 @@ pub fn init_world(testbed: &mut Testbed) { * Set up the testbed. */ testbed.set_world(bodies, colliders, joints); - testbed.look_at(Point2::new(0.0, 2.5), 20.0); + testbed.look_at(point![0.0, 2.5], 20.0); } |