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-rw-r--r--examples2d/add_remove2.rs2
-rw-r--r--examples2d/all_examples2.rs19
-rw-r--r--examples2d/balls2.rs68
-rw-r--r--examples2d/boxes2.rs73
-rw-r--r--examples2d/capsules2.rs76
-rw-r--r--examples2d/debug_box_ball2.rs2
-rw-r--r--examples2d/heightfield2.rs12
-rw-r--r--examples2d/joints2.rs10
-rw-r--r--examples2d/platform2.rs (renamed from examples2d/kinematic2.rs)8
-rw-r--r--examples2d/pyramid2.rs8
-rw-r--r--examples2d/sensor2.rs4
-rw-r--r--examples2d/stress_joint_ball2.rs72
-rw-r--r--examples2d/stress_joint_fixed2.rs85
-rw-r--r--examples2d/stress_joint_prismatic2.rs69
14 files changed, 24 insertions, 484 deletions
diff --git a/examples2d/add_remove2.rs b/examples2d/add_remove2.rs
index 49da436..3a32a95 100644
--- a/examples2d/add_remove2.rs
+++ b/examples2d/add_remove2.rs
@@ -15,7 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
.translation(0.0, 10.0)
.build();
let handle = physics.bodies.insert(rigid_body);
- let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+ let collider = ColliderBuilder::cuboid(rad, rad).build();
physics
.colliders
.insert(collider, handle, &mut physics.bodies);
diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index 836dcbc..0ebef88 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -11,18 +11,12 @@ use rapier_testbed2d::Testbed;
use std::cmp::Ordering;
mod add_remove2;
-mod balls2;
-mod boxes2;
-mod capsules2;
mod debug_box_ball2;
mod heightfield2;
mod joints2;
-mod kinematic2;
+mod platform2;
mod pyramid2;
mod sensor2;
-mod stress_joint_ball2;
-mod stress_joint_fixed2;
-mod stress_joint_prismatic2;
fn demo_name_from_command_line() -> Option<String> {
let mut args = std::env::args();
@@ -58,21 +52,12 @@ pub fn main() {
let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
("Add remove", add_remove2::init_world),
- ("Balls", balls2::init_world),
- ("Boxes", boxes2::init_world),
- ("Capsules", capsules2::init_world),
("Heightfield", heightfield2::init_world),
("Joints", joints2::init_world),
- ("Kinematic", kinematic2::init_world),
+ ("Platform", platform2::init_world),
("Pyramid", pyramid2::init_world),
("Sensor", sensor2::init_world),
("(Debug) box ball", debug_box_ball2::init_world),
- ("(Stress test) joint ball", stress_joint_ball2::init_world),
- ("(Stress test) joint fixed", stress_joint_fixed2::init_world),
- (
- "(Stress test) joint prismatic",
- stress_joint_prismatic2::init_world,
- ),
];
// Lexicographic sort, with stress tests moved at the end of the list.
diff --git a/examples2d/balls2.rs b/examples2d/balls2.rs
deleted file mode 100644
index 4c85d86..0000000
--- a/examples2d/balls2.rs
+++ /dev/null
@@ -1,68 +0,0 @@
-use na::Point2;
-use rapier2d::dynamics::{BodyStatus, 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 = 25.0;
-
- /*
- let ground_shape = ShapeHandle::new(Cuboid::new(Vector2::new(ground_size, 1.0)));
-
- let ground_handle = bodies.insert(Ground::new());
- let co = ColliderDesc::new(ground_shape)
- .translation(-Vector2::y())
- .build(BodyPartHandle(ground_handle, 0));
- colliders.insert(co);
- */
-
- /*
- * Create the balls
- */
- let num = 50;
- let rad = 1.0;
-
- let shiftx = rad * 2.5;
- let shifty = rad * 2.0;
- let centerx = shiftx * (num as f32) / 2.0;
- let centery = shifty / 2.0;
-
- for i in 0..num {
- for j in 0usize..num * 5 {
- let x = i as f32 * shiftx - centerx;
- let y = j as f32 * shifty + centery;
-
- let status = if j == 0 {
- BodyStatus::Static
- } else {
- BodyStatus::Dynamic
- };
-
- // Build the rigid body.
- let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build();
- let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::ball(rad).density(1.0).build();
- colliders.insert(collider, handle, &mut bodies);
- }
- }
-
- /*
- * Set up the testbed.
- */
- testbed.set_world(bodies, colliders, joints);
- testbed.look_at(Point2::new(0.0, 2.5), 5.0);
-}
-
-fn main() {
- let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
- testbed.run()
-}
diff --git a/examples2d/boxes2.rs b/examples2d/boxes2.rs
deleted file mode 100644
index 8b09def..0000000
--- a/examples2d/boxes2.rs
+++ /dev/null
@@ -1,73 +0,0 @@
-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 = 25.0;
-
- let rigid_body = RigidBodyBuilder::new_static().build();
- let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
- colliders.insert(collider, handle, &mut bodies);
-
- let rigid_body = RigidBodyBuilder::new_static()
- .rotation(std::f32::consts::FRAC_PI_2)
- .translation(ground_size, ground_size * 2.0)
- .build();
- let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
- colliders.insert(collider, handle, &mut bodies);
-
- let rigid_body = RigidBodyBuilder::new_static()
- .rotation(std::f32::consts::FRAC_PI_2)
- .translation(-ground_size, ground_size * 2.0)
- .build();
- let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
- colliders.insert(collider, handle, &mut bodies);
-
- /*
- * Create the cubes
- */
- let num = 26;
- let rad = 0.5;
-
- let shift = rad * 2.0;
- let centerx = shift * (num as f32) / 2.0;
- let centery = shift / 2.0;
-
- for i in 0..num {
- for j in 0usize..num * 5 {
- let x = i as f32 * shift - centerx;
- let y = j as f32 * shift + centery + 2.0;
-
- // 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);
- }
- }
-
- /*
- * Set up the testbed.
- */
- testbed.set_world(bodies, colliders, joints);
- testbed.look_at(Point2::new(0.0, 50.0), 10.0);
-}
-
-fn main() {
- let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
- testbed.run()
-}
diff --git a/examples2d/capsules2.rs b/examples2d/capsules2.rs
deleted file mode 100644
index 041edf5..0000000
--- a/examples2d/capsules2.rs
+++ /dev/null
@@ -1,76 +0,0 @@
-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 = 25.0;
-
- let rigid_body = RigidBodyBuilder::new_static().build();
- let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
- colliders.insert(collider, handle, &mut bodies);
-
- let rigid_body = RigidBodyBuilder::new_static()
- .rotation(std::f32::consts::FRAC_PI_2)
- .translation(ground_size, ground_size * 4.0)
- .build();
- let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
- colliders.insert(collider, handle, &mut bodies);
-
- let rigid_body = RigidBodyBuilder::new_static()
- .rotation(std::f32::consts::FRAC_PI_2)
- .translation(-ground_size, ground_size * 4.0)
- .build();
- let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
- colliders.insert(collider, handle, &mut bodies);
-
- /*
- * Create the cubes
- */
- let num = 26;
- let rad = 0.5;
-
- let shift = rad * 2.0;
- let shifty = rad * 5.0;
- let centerx = shift * (num as f32) / 2.0;
- let centery = shift / 2.0;
-
- for i in 0..num {
- for j in 0usize..num * 5 {
- let x = i as f32 * shift - centerx;
- let y = j as f32 * shifty + centery + 3.0;
-
- // Build the rigid body.
- let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
- let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::capsule_y(rad * 1.5, rad)
- .density(1.0)
- .build();
- colliders.insert(collider, handle, &mut bodies);
- }
- }
-
- /*
- * Set up the testbed.
- */
- testbed.set_world(bodies, colliders, joints);
- testbed.look_at(Point2::new(0.0, 50.0), 10.0);
-}
-
-fn main() {
- let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
- testbed.run()
-}
diff --git a/examples2d/debug_box_ball2.rs b/examples2d/debug_box_ball2.rs
index 2cc5e45..62933ff 100644
--- a/examples2d/debug_box_ball2.rs
+++ b/examples2d/debug_box_ball2.rs
@@ -28,7 +28,7 @@ pub fn init_world(testbed: &mut Testbed) {
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::ball(rad).density(1.0).build();
+ let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
/*
diff --git a/examples2d/heightfield2.rs b/examples2d/heightfield2.rs
index b03afe3..f5ddff9 100644
--- a/examples2d/heightfield2.rs
+++ b/examples2d/heightfield2.rs
@@ -19,7 +19,7 @@ pub fn init_world(testbed: &mut Testbed) {
let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
if i == 0 || i == nsubdivs {
- 80.0
+ 8.0
} else {
(i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
}
@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Create the cubes
*/
- let num = 26;
+ let num = 20;
let rad = 0.5;
let shift = rad * 2.0;
@@ -41,7 +41,7 @@ pub fn init_world(testbed: &mut Testbed) {
let centery = shift / 2.0;
for i in 0..num {
- for j in 0usize..num * 5 {
+ for j in 0usize..num {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift + centery + 3.0;
@@ -50,10 +50,10 @@ pub fn init_world(testbed: &mut Testbed) {
let handle = bodies.insert(rigid_body);
if j % 2 == 0 {
- let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+ let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
} else {
- let collider = ColliderBuilder::ball(rad).density(1.0).build();
+ let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
@@ -63,7 +63,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
- testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+ testbed.look_at(Point2::new(0.0, 0.0), 10.0);
}
fn main() {
diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs
index c3df921..d1a1942 100644
--- a/examples2d/joints2.rs
+++ b/examples2d/joints2.rs
@@ -19,8 +19,8 @@ pub fn init_world(testbed: &mut Testbed) {
// in order to be able to compare rapier with Box2D,
// we set it to 0.4.
let rad = 0.4;
- let numi = 100; // Num vertical nodes.
- let numk = 100; // Num horizontal nodes.
+ let numi = 10; // Num vertical nodes.
+ let numk = 10; // Num horizontal nodes.
let shift = 1.0;
let mut body_handles = Vec::new();
@@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
let fk = k as f32;
let fi = i as f32;
- let status = if i == 0 && (k % 4 == 0 || k == numk - 1) {
+ let status = if i == 0 && k == 0 {
BodyStatus::Static
} else {
BodyStatus::Dynamic
@@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) {
.translation(fk * shift, -fi * shift)
.build();
let child_handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::ball(rad).density(1.0).build();
+ let collider = ColliderBuilder::ball(rad).build();
colliders.insert(collider, child_handle, &mut bodies);
// Vertical joint.
@@ -66,7 +66,7 @@ pub fn init_world(testbed: &mut Testbed) {
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
- testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
+ testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 20.0);
}
fn main() {
diff --git a/examples2d/kinematic2.rs b/examples2d/platform2.rs
index c40134b..fd836a3 100644
--- a/examples2d/kinematic2.rs
+++ b/examples2d/platform2.rs
@@ -35,14 +35,14 @@ pub fn init_world(testbed: &mut Testbed) {
let centery = shift / 2.0 + 3.04;
for i in 0usize..num {
- for j in 0usize..num * 50 {
+ for j in 0usize..num {
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();
+ let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
@@ -54,9 +54,7 @@ pub fn init_world(testbed: &mut Testbed) {
.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();
+ let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
colliders.insert(collider, platform_handle, &mut bodies);
/*
diff --git a/examples2d/pyramid2.rs b/examples2d/pyramid2.rs
index 4d6fe07..689e9c0 100644
--- a/examples2d/pyramid2.rs
+++ b/examples2d/pyramid2.rs
@@ -14,7 +14,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Ground
*/
- let ground_size = 100.0;
+ let ground_size = 10.0;
let ground_thickness = 1.0;
let rigid_body = RigidBodyBuilder::new_static().build();
@@ -25,7 +25,7 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Create the cubes
*/
- let num = 100;
+ let num = 10;
let rad = 0.5;
let shift = rad * 2.0;
@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
// 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();
+ let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
@@ -51,7 +51,7 @@ 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), 5.0);
+ testbed.look_at(Point2::new(0.0, 2.5), 20.0);
}
fn main() {
diff --git a/examples2d/sensor2.rs b/examples2d/sensor2.rs
index c7e0205..959ecbf 100644
--- a/examples2d/sensor2.rs
+++ b/examples2d/sensor2.rs
@@ -40,7 +40,7 @@ pub fn init_world(testbed: &mut Testbed) {
// 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();
+ let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
testbed.set_body_color(handle, Point3::new(0.5, 0.5, 1.0));
@@ -58,7 +58,7 @@ pub fn init_world(testbed: &mut Testbed) {
// Solid cube attached to the sensor which
// other colliders can touch.
- let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+ let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't
diff --git a/examples2d/stress_joint_ball2.rs b/examples2d/stress_joint_ball2.rs
deleted file mode 100644
index 55db1b7..0000000
--- a/examples2d/stress_joint_ball2.rs
+++ /dev/null
@@ -1,72 +0,0 @@
-use na::Point2;
-use rapier2d::dynamics::{BallJoint, BodyStatus, 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 mut joints = JointSet::new();
-
- /*
- * Create the balls
- */
- // Build the rigid body.
- let rad = 0.4;
- let numi = 100; // Num vertical nodes.
- let numk = 100; // Num horizontal nodes.
- let shift = 1.0;
-
- let mut body_handles = Vec::new();
-
- for k in 0..numk {
- for i in 0..numi {
- let fk = k as f32;
- let fi = i as f32;
-
- let status = if k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 {
- BodyStatus::Static
- } else {
- BodyStatus::Dynamic
- };
-
- let rigid_body = RigidBodyBuilder::new(status)
- .translation(fk * shift, -fi * shift)
- .build();
- let child_handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::ball(rad).density(1.0).build();
- colliders.insert(collider, child_handle, &mut bodies);
-
- // Vertical joint.
- if i > 0 {
- let parent_handle = *body_handles.last().unwrap();
- let joint = BallJoint::new(Point2::origin(), Point2::new(0.0, shift));
- joints.insert(&mut bodies, parent_handle, child_handle, joint);
- }
-
- // Horizontal joint.
- if k > 0 {
- let parent_index = body_handles.len() - numi;
- let parent_handle = body_handles[parent_index];
- let joint = BallJoint::new(Point2::origin(), Point2::new(-shift, 0.0));
- joints.insert(&mut bodies, parent_handle, child_handle, joint);
- }
-
- body_handles.push(child_handle);
- }
- }
-
- /*
- * Set up the testbed.
- */
- testbed.set_world(bodies, colliders, joints);
- testbed.look_at(Point2::new(numk as f32 * rad, numi as f32 * -rad), 5.0);
-}
-
-fn main() {
- let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
- testbed.run()
-}
diff --git a/examples2d/stress_joint_fixed2.rs b/examples2d/stress_joint_fixed2.rs
deleted file mode 100644
index 31b3e4f..0000000
--- a/examples2d/stress_joint_fixed2.rs
+++ /dev/null
@@ -1,85 +0,0 @@
-use na::{Isometry2, Point2};
-use rapier2d::dynamics::{BodyStatus, FixedJoint, 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 mut joints = JointSet::new();
-
- /*
- * Create the balls
- */
- // Build the rigid body.
- let rad = 0.4;
- let num = 30; // Num vertical nodes.
- let shift = 1.0;
-
- let mut body_handles = Vec::new();
-
- for xx in 0..4 {
- let x = xx as f32 * shift * (num as f32 + 2.0);
-
- for yy in 0..4 {
- let y = yy as f32 * shift * (num as f32 + 4.0);
-
- for k in 0..num {
- for i in 0..num {
- let fk = k as f32;
- let fi = i as f32;
-
- let status = if k == 0 {
- BodyStatus::Static
- } else {
- BodyStatus::Dynamic
- };
-
- let rigid_body = RigidBodyBuilder::new(status)
- .translation(x + fk * shift, y - fi * shift)
- .build();
- let child_handle = bodies.insert(rigid_body);
- let collider = ColliderBuilder::ball(rad).density(1.0).build();
- colliders.insert(collider, child_handle, &mut bodies);
-
- // Vertical joint.
- if i > 0 {
- let parent_handle = *body_handles.last().unwrap();
- let joint = FixedJoint::new(
- Isometry2::identity(),
- Isometry2::translation(0.0, shift),
- );
- joints.insert(&mut bodies, parent_handle, child_handle, joint);
- }
-
- // Horizontal joint.
- if k > 0 {
- let parent_index = body_handles.len() - num;
- let parent_handle = body_handles[parent_index];
- let joint = FixedJoint::new(
- Isometry2::identity(),
- Isometry2::translation(-shift, 0.0),
- );
- joints.insert(&mut bodies, parent_handle, child_handle, joint);
- }
-
- body_handles.push(child_handle);
- }
- }
- }
- }
-
- /*
- * Set up the testbed.
- */
- testbed.set_world(bodies, colliders, joints);
- testbed.look_at(Point2::new(50.0, 50.0), 5.0);
-}
-
-fn main() {
- let testbed = Testbed::from_builders(0, vec![("Joints", init_world)]);
- testbed.run()
-}
diff --git a/examples2d/stress_joint_prismatic2.rs b/examples2d/stress_joint_prismatic2.rs
deleted file mode 100644
index 91ef48e..0000000
--- a/examples2d/stress_joint_prismatic2.rs
+++ /dev/null
@@ -1,69 +0,0 @@
-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()
-}
generated by cgit (git 2.34.1) at 2026-02-04 06:23:08 +0000