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use rapier2d::{na::UnitComplex, prelude::*};
use rapier_testbed2d::Testbed;
pub fn init_world(testbed: &mut Testbed) {
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.5;
let positions = [vector![5.0, -1.0], vector![-5.0, -1.0]];
let platform_handles = positions
.into_iter()
.map(|pos| {
let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(pos);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
handle
})
.collect::<Vec<_>>();
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, _, state| {
let rot = state.time * -1.0;
for rb_handle in &platform_handles {
let rb = physics.bodies.get_mut(*rb_handle).unwrap();
rb.set_next_kinematic_rotation(UnitComplex::new(rot));
}
if state.timestep_id % 10 == 0 {
let x = rand::random::<f32>() * 10.0 - 5.0;
let y = rand::random::<f32>() * 10.0 + 10.0;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = physics.bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
physics
.colliders
.insert_with_parent(collider, handle, &mut physics.bodies);
if let Some(graphics) = &mut graphics {
graphics.add_body(handle, &physics.bodies, &physics.colliders);
}
}
let to_remove: Vec<_> = physics
.bodies
.iter()
.filter(|(_, b)| b.position().translation.vector.y < -10.0)
.map(|e| e.0)
.collect();
for handle in to_remove {
physics.bodies.remove(
handle,
&mut physics.islands,
&mut physics.colliders,
&mut physics.impulse_joints,
&mut physics.multibody_joints,
true,
);
if let Some(graphics) = &mut graphics {
graphics.remove_body(handle);
}
}
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 0.0], 20.0);
}
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