From f58b4f7c195ab7acf0778ea65c46ebf37ac8188c Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 21 Apr 2024 18:55:11 +0200 Subject: feat: add warmstarting to contact constraints resolution --- examples2d/debug_vertical_column2.rs | 47 ++++++++++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) create mode 100644 examples2d/debug_vertical_column2.rs (limited to 'examples2d/debug_vertical_column2.rs') diff --git a/examples2d/debug_vertical_column2.rs b/examples2d/debug_vertical_column2.rs new file mode 100644 index 0000000..4ca50db --- /dev/null +++ b/examples2d/debug_vertical_column2.rs @@ -0,0 +1,47 @@ +use rapier2d::prelude::*; +use rapier_testbed2d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + let num = 80; + let rad = 0.5; + + /* + * Ground + */ + let ground_size = 1.0; + let ground_thickness = 1.0; + + let rigid_body = RigidBodyBuilder::fixed(); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).friction(0.3); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * Create the cubes + */ + + for i in 0..num { + let y = i as f32 * rad * 2.0 + ground_thickness + rad; + + // Build the rigid body. + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, y]); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(rad, rad).friction(0.3); + colliders.insert_with_parent(collider, handle, &mut bodies); + } + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + // testbed.harness_mut().physics.gravity.y = -981.0; + testbed.look_at(point![0.0, 2.5], 5.0); +} -- cgit