1 files changed, 69 insertions, 0 deletions
diff --git a/examples2d/stress_joint_prismatic2.rs b/examples2d/stress_joint_prismatic2.rs
new file mode 100644
index 0000000..91ef48e
--- /dev/null
+++ b/examples2d/stress_joint_prismatic2.rs
@@ -0,0 +1,69 @@
+use na::{Point2, Unit, Vector2};
+use rapier2d::dynamics::{JointSet, PrismaticJoint, 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 mut joints = JointSet::new();
+
+    /*
+     * Create the balls
+     */
+    // Build the rigid body.
+    let rad = 0.4;
+    let num = 10;
+    let shift = 1.0;
+
+    for l in 0..25 {
+        let y = l as f32 * shift * (num as f32 + 2.0) * 2.0;
+
+        for j in 0..50 {
+            let x = j as f32 * shift * 4.0;
+
+            let ground = RigidBodyBuilder::new_static().translation(x, y).build();
+            let mut curr_parent = bodies.insert(ground);
+            let collider = ColliderBuilder::cuboid(rad, rad).build();
+            colliders.insert(collider, curr_parent, &mut bodies);
+
+            for i in 0..num {
+                let y = y - (i + 1) as f32 * shift;
+                let density = 1.0;
+                let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+                let curr_child = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::cuboid(rad, rad).density(density).build();
+                colliders.insert(collider, curr_child, &mut bodies);
+
+                let axis = if i % 2 == 0 {
+                    Unit::new_normalize(Vector2::new(1.0, 1.0))
+                } else {
+                    Unit::new_normalize(Vector2::new(-1.0, 1.0))
+                };
+
+                let mut prism =
+                    PrismaticJoint::new(Point2::origin(), axis, Point2::new(0.0, shift), axis);
+                prism.limits_enabled = true;
+                prism.limits[0] = -1.5;
+                prism.limits[1] = 1.5;
+                joints.insert(&mut bodies, curr_parent, curr_child, prism);
+
+                curr_parent = curr_child;
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(80.0, 80.0), 15.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
+    testbed.run()
+}