1 files changed, 93 insertions, 0 deletions
diff --git a/examples2d/kinematic2.rs b/examples2d/kinematic2.rs
new file mode 100644
index 0000000..d979cd0
--- /dev/null
+++ b/examples2d/kinematic2.rs
@@ -0,0 +1,93 @@
+use na::Point2;
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground.
+     */
+    let ground_size = 10.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the boxes
+     */
+    let num = 6;
+    let rad = 0.2;
+
+    let shift = rad * 2.0;
+    let centerx = shift * num as f32 / 2.0;
+    let centery = shift / 2.0 + 3.04;
+
+    for i in 0usize..num {
+        for j in 0usize..num * 50 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Setup a kinematic rigid body.
+     */
+    let platform_body = RigidBodyBuilder::new_kinematic()
+        .translation(-10.0 * rad, 1.5 + 0.8)
+        .build();
+    let platform_handle = bodies.insert(platform_body);
+    let collider = ColliderBuilder::cuboid(rad * 10.0, rad)
+        .density(1.0)
+        .build();
+    colliders.insert(collider, platform_handle, &mut bodies);
+
+    /*
+     * Setup a callback to control the platform.
+     */
+    testbed.add_callback(move |bodies, _, _, _, time| {
+        let mut platform = bodies.get_mut(platform_handle).unwrap();
+        let mut next_pos = platform.position;
+
+        let dt = 0.016;
+        next_pos.translation.vector.y += (time * 5.0).sin() * dt;
+        next_pos.translation.vector.x += time.sin() * 5.0 * dt;
+
+        if next_pos.translation.vector.x >= rad * 10.0 {
+            next_pos.translation.vector.x -= dt;
+        }
+        if next_pos.translation.vector.x <= -rad * 10.0 {
+            next_pos.translation.vector.x += dt;
+        }
+
+        platform.set_next_kinematic_position(next_pos);
+    });
+
+    /*
+     * Run the simulation.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 1.0), 40.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
+    testbed.run()
+}