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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 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 {
RigidBodyType::Static
} else {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x + fk * shift, y - fi * shift])
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint =
FixedJoint::new().local_frame2(Isometry::translation(0.0, shift));
impulse_joints.insert(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().local_frame2(Isometry::translation(-shift, 0.0));
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
}
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![50.0, 50.0], 5.0);
}
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