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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();
let rad = 1.0;
let collider = ColliderBuilder::ball(rad);
let count = 100;
for x in 0..count {
for y in 0..count {
let rigid_body = RigidBodyBuilder::fixed().translation(vector![
(x as f32 - count as f32 / 2.0) * rad * 3.0,
(y as f32 - count as f32 / 2.0) * rad * 3.0
]);
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider.clone(), handle, &mut bodies);
testbed.set_initial_body_color(
handle,
[
x as f32 / count as f32,
(count - y) as f32 / count as f32,
0.5,
],
);
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 0.0], 50.0);
testbed.add_callback(move |graphics, physics, _, run| {
let slow_time = run.timestep_id as f32 / 3.0;
let intersection = physics.query_pipeline.intersection_with_shape(
&physics.bodies,
&physics.colliders,
&Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
&Ball::new(rad / 2.0),
QueryFilter::default(),
);
if let Some(graphics) = graphics {
for (handle, _) in physics.bodies.iter() {
graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
}
if let Some(intersection) = intersection {
let collider = physics.colliders.get(intersection).unwrap();
let body_handle = collider.parent().unwrap();
graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);
}
}
});
}
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