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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 impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
*/
let width = 75.0;
let thickness = 2.0;
let ys = [-30.0 - thickness, 30.0 + thickness];
for y in ys {
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(width, thickness);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
// Build two compression boxes rigid body.
let half_height = (ys[1] - ys[0]) / 2.0 - thickness;
let xs = [-width + thickness, width - thickness];
let mut handles = [RigidBodyHandle::invalid(); 2];
for i in 0..2 {
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![xs[i], 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(thickness, half_height);
colliders.insert_with_parent(collider, handle, &mut bodies);
handles[i] = handle;
}
// Build the balls.
let num = 8;
let rad = half_height / (num as f32);
for i in 0..num {
for j in 0..num {
let x = i as f32 * rad * 2.0 - num as f32 * rad;
let y = j as f32 * rad * 2.0 - num as f32 * rad + rad;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
let mut force = vector![0.0, 0.0];
testbed.add_callback(move |_, physics, _, _| {
let left_plank = &mut physics.bodies[handles[0]];
left_plank.reset_forces(true);
left_plank.add_force(force, true);
let right_plank = &mut physics.bodies[handles[1]];
right_plank.reset_forces(true);
right_plank.add_force(-force, true);
force.x += 10000.0;
println!("force: {}", force.x);
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 0.0], 50.0);
}
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