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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 mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::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 {
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
let rigid_body =
RigidBodyBuilder::new(status).translation(vector![fk * shift, -fi * shift]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = RevoluteJointBuilder::new().local_anchor2(point![0.0, shift]);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index];
let joint = RevoluteJointBuilder::new().local_anchor2(point![-shift, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
body_handles.push(child_handle);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 5.0);
}
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