diff options
Diffstat (limited to 'examples2d')
| -rw-r--r-- | examples2d/Cargo.toml | 3 | ||||
| -rw-r--r-- | examples2d/all_examples2.rs | 2 | ||||
| -rw-r--r-- | examples2d/ccd2.rs | 124 |
3 files changed, 128 insertions, 1 deletions
diff --git a/examples2d/Cargo.toml b/examples2d/Cargo.toml index 48f5a65..a226f12 100644 --- a/examples2d/Cargo.toml +++ b/examples2d/Cargo.toml @@ -3,6 +3,7 @@ name = "rapier-examples-2d" version = "0.1.0" authors = [ "Sébastien Crozet <developer@crozet.re>" ] edition = "2018" +default-run = "all_examples2" [features] parallel = [ "rapier2d/parallel", "rapier_testbed2d/parallel" ] @@ -26,4 +27,4 @@ path = "../build/rapier2d" [[bin]] name = "all_examples2" -path = "./all_examples2.rs"
\ No newline at end of file +path = "./all_examples2.rs" diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs index f4430aa..8f38ced 100644 --- a/examples2d/all_examples2.rs +++ b/examples2d/all_examples2.rs @@ -11,6 +11,7 @@ use rapier_testbed2d::Testbed; use std::cmp::Ordering; mod add_remove2; +mod ccd2; mod collision_groups2; mod convex_polygons2; mod damping2; @@ -60,6 +61,7 @@ pub fn main() { let mut builders: Vec<(_, fn(&mut Testbed))> = vec![ ("Add remove", add_remove2::init_world), + ("CCD", ccd2::init_world), ("Collision groups", collision_groups2::init_world), ("Convex polygons", convex_polygons2::init_world), ("Damping", damping2::init_world), diff --git a/examples2d/ccd2.rs b/examples2d/ccd2.rs new file mode 100644 index 0000000..852fad3 --- /dev/null +++ b/examples2d/ccd2.rs @@ -0,0 +1,124 @@ +use na::{Isometry2, Point2, Point3}; +use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet}; +use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape}; +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_thickness = 0.1; + + let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true).build(); + let ground_handle = bodies.insert(rigid_body); + + let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build(); + colliders.insert(collider, ground_handle, &mut bodies); + + let collider = ColliderBuilder::cuboid(ground_thickness, ground_size) + .translation(-3.0, 0.0) + .build(); + colliders.insert(collider, ground_handle, &mut bodies); + + let collider = ColliderBuilder::cuboid(ground_thickness, ground_size) + .translation(6.0, 0.0) + .build(); + colliders.insert(collider, ground_handle, &mut bodies); + + let collider = ColliderBuilder::cuboid(ground_thickness, ground_size) + .translation(2.5, 0.0) + .sensor(true) + .build(); + let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies); + + /* + * Create the shapes + */ + 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 mut compound_parts = Vec::new(); + let vertical = SharedShape::cuboid(rady, radx); + let horizontal = SharedShape::cuboid(radx, rady); + compound_parts.push((delta1, horizontal)); + compound_parts.push((delta2, vertical.clone())); + compound_parts.push((delta3, vertical)); + + let compound_shape = SharedShape::compound(compound_parts); + + let num = 6; + let shift = (radx + 0.01) * 2.0; + let centerx = shift * num as f32 / 2.0 - 0.5; + let centery = shift / 2.0 + 4.0; + + for i in 0usize..num { + for j in 0..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) + .linvel(100.0, -10.0) + .ccd_enabled(true) + .build(); + let handle = bodies.insert(rigid_body); + + // for part in &compound_parts { + // let collider = ColliderBuilder::new(part.1.clone()) + // .position_wrt_parent(part.0) + // .build(); + // colliders.insert(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); + } + } + + // Callback that will be executed on the main loop to handle proximities. + 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) + } else { + Point3::new(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(); + if let Some(graphics) = &mut graphics { + if parent_handle1 != ground_handle && prox.collider1 != sensor_handle { + graphics.set_body_color(parent_handle1, color); + } + if parent_handle2 != ground_handle && prox.collider2 != sensor_handle { + graphics.set_body_color(parent_handle2, color); + } + } + } + }); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, joints); + testbed.look_at(Point2::new(0.0, 2.5), 20.0); +} + +fn main() { + let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]); + testbed.run() +} |