From ff2da7fb27f0ea7a15b1dc6b6daf763fe7faf13b Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 6 Sep 2020 12:16:09 +0200
Subject: Move benchmark demos into their own directory.

---
 examples2d/add_remove2.rs         | 2 +-
 examples2d/balls2.rs              | 2 +-
 examples2d/boxes2.rs              | 2 +-
 examples2d/capsules2.rs           | 4 +---
 examples2d/debug_box_ball2.rs     | 2 +-
 examples2d/heightfield2.rs        | 4 ++--
 examples2d/joints2.rs             | 2 +-
 examples2d/kinematic2.rs          | 6 ++----
 examples2d/pyramid2.rs            | 2 +-
 examples2d/sensor2.rs             | 4 ++--
 examples2d/stress_joint_ball2.rs  | 2 +-
 examples2d/stress_joint_fixed2.rs | 2 +-
 12 files changed, 15 insertions(+), 19 deletions(-)

(limited to 'examples2d')

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/balls2.rs b/examples2d/balls2.rs
index 4c85d86..6791505 100644
--- a/examples2d/balls2.rs
+++ b/examples2d/balls2.rs
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
             // 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();
+            let collider = ColliderBuilder::ball(rad).build();
             colliders.insert(collider, handle, &mut bodies);
         }
     }
diff --git a/examples2d/boxes2.rs b/examples2d/boxes2.rs
index 8b09def..4fb9bf3 100644
--- a/examples2d/boxes2.rs
+++ b/examples2d/boxes2.rs
@@ -55,7 +55,7 @@ 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);
         }
     }
diff --git a/examples2d/capsules2.rs b/examples2d/capsules2.rs
index 041edf5..76633bc 100644
--- a/examples2d/capsules2.rs
+++ b/examples2d/capsules2.rs
@@ -56,9 +56,7 @@ 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::capsule_y(rad * 1.5, rad)
-                .density(1.0)
-                .build();
+            let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
             colliders.insert(collider, handle, &mut bodies);
         }
     }
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..95fed6c 100644
--- a/examples2d/heightfield2.rs
+++ b/examples2d/heightfield2.rs
@@ -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);
             }
         }
diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs
index c3df921..888c48b 100644
--- a/examples2d/joints2.rs
+++ b/examples2d/joints2.rs
@@ -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.
diff --git a/examples2d/kinematic2.rs b/examples2d/kinematic2.rs
index c40134b..9540f17 100644
--- a/examples2d/kinematic2.rs
+++ b/examples2d/kinematic2.rs
@@ -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);
         }
     }
@@ -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..e6a715b 100644
--- a/examples2d/pyramid2.rs
+++ b/examples2d/pyramid2.rs
@@ -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);
         }
     }
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
index 55db1b7..ecfdc47 100644
--- a/examples2d/stress_joint_ball2.rs
+++ b/examples2d/stress_joint_ball2.rs
@@ -37,7 +37,7 @@ 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.
diff --git a/examples2d/stress_joint_fixed2.rs b/examples2d/stress_joint_fixed2.rs
index 31b3e4f..32a219e 100644
--- a/examples2d/stress_joint_fixed2.rs
+++ b/examples2d/stress_joint_fixed2.rs
@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
                         .translation(x + fk * shift, y - 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.
-- 
cgit 


From e7466e2f6923d24e987a34f8ebaf839346af8d4e Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Mon, 28 Sep 2020 10:19:49 +0200
Subject: Move 2D benchmarks into their own directory/crate.

---
 examples2d/all_examples2.rs           | 19 +-------
 examples2d/balls2.rs                  | 68 --------------------------
 examples2d/boxes2.rs                  | 73 ----------------------------
 examples2d/capsules2.rs               | 74 ----------------------------
 examples2d/heightfield2.rs            |  8 +--
 examples2d/joints2.rs                 |  8 +--
 examples2d/kinematic2.rs              | 91 -----------------------------------
 examples2d/platform2.rs               | 91 +++++++++++++++++++++++++++++++++++
 examples2d/pyramid2.rs                |  6 +--
 examples2d/stress_joint_ball2.rs      | 72 ---------------------------
 examples2d/stress_joint_fixed2.rs     | 85 --------------------------------
 examples2d/stress_joint_prismatic2.rs | 69 --------------------------
 12 files changed, 104 insertions(+), 560 deletions(-)
 delete mode 100644 examples2d/balls2.rs
 delete mode 100644 examples2d/boxes2.rs
 delete mode 100644 examples2d/capsules2.rs
 delete mode 100644 examples2d/kinematic2.rs
 create mode 100644 examples2d/platform2.rs
 delete mode 100644 examples2d/stress_joint_ball2.rs
 delete mode 100644 examples2d/stress_joint_fixed2.rs
 delete mode 100644 examples2d/stress_joint_prismatic2.rs

(limited to 'examples2d')

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 6791505..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).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 4fb9bf3..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).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 76633bc..0000000
--- a/examples2d/capsules2.rs
+++ /dev/null
@@ -1,74 +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).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/heightfield2.rs b/examples2d/heightfield2.rs
index 95fed6c..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;
 
@@ -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 888c48b..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
@@ -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/kinematic2.rs
deleted file mode 100644
index 9540f17..0000000
--- a/examples2d/kinematic2.rs
+++ /dev/null
@@ -1,91 +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 = 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).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).build();
-    colliders.insert(collider, platform_handle, &mut bodies);
-
-    /*
-     * Setup a callback to control the platform.
-     */
-    testbed.add_callback(move |_, physics, _, _, time| {
-        let mut platform = physics.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()
-}
diff --git a/examples2d/platform2.rs b/examples2d/platform2.rs
new file mode 100644
index 0000000..fd836a3
--- /dev/null
+++ b/examples2d/platform2.rs
@@ -0,0 +1,91 @@
+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 {
+            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).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).build();
+    colliders.insert(collider, platform_handle, &mut bodies);
+
+    /*
+     * Setup a callback to control the platform.
+     */
+    testbed.add_callback(move |_, physics, _, _, time| {
+        let mut platform = physics.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()
+}
diff --git a/examples2d/pyramid2.rs b/examples2d/pyramid2.rs
index e6a715b..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;
@@ -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/stress_joint_ball2.rs b/examples2d/stress_joint_ball2.rs
deleted file mode 100644
index ecfdc47..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).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 32a219e..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).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()
-}
-- 
cgit