1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
|
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 joints = JointSet::new();
/*
* Ground
*/
let ground_size = 25.0;
let ground_thickness = 0.1;
let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true).build();
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![-3.0, 0.0])
.build();
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![6.0, 0.0])
.build();
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![2.5, 0.0])
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create the shapes
*/
let radx = 0.4;
let rady = 0.05;
let delta1 = Isometry::translation(0.0, radx - rady);
let delta2 = Isometry::translation(-radx + rady, 0.0);
let delta3 = Isometry::translation(radx - rady, 0.0);
let mut compound_parts = Vec::new();
let vertical = SharedShape::cuboid(rady, radx);
let horizontal = SharedShape::cuboid(radx, rady);
compound_parts.push((delta1, horizontal));
compound_parts.push((delta2, vertical.clone()));
compound_parts.push((delta3, vertical));
let compound_shape = SharedShape::compound(compound_parts);
let num = 6;
let shift = (radx + 0.01) * 2.0;
let centerx = shift * num as f32 / 2.0 - 0.5;
let centery = shift / 2.0 + 4.0;
for i in 0usize..num {
for j in 0..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(vector![x, y])
.linvel(vector![100.0, -10.0])
.ccd_enabled(true)
.build();
let handle = bodies.insert(rigid_body);
// for part in &compound_parts {
// let collider = ColliderBuilder::new(part.1.clone())
// .position_wrt_parent(part.0)
// .build();
// colliders.insert_with_parent(collider, handle, &mut bodies);
// }
let collider = ColliderBuilder::new(compound_shape.clone()).build();
// let collider = ColliderBuilder::cuboid(radx, rady).build();
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.intersection_events.try_recv() {
let color = if prox.intersecting {
[1.0, 1.0, 0.0]
} else {
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics
.colliders
.get(prox.collider1)
.unwrap()
.parent()
.unwrap();
let parent_handle2 = physics
.colliders
.get(prox.collider2)
.unwrap()
.parent()
.unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
}
if parent_handle2 != ground_handle && prox.collider2 != sensor_handle {
graphics.set_body_color(parent_handle2, color);
}
}
}
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(point![0.0, 2.5], 20.0);
}
|
