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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()
}
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