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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();
/*
* Create the boxes
*/
let num = 30;
let rad = 0.2;
let shift = rad * 2.0;
let centerx = shift * num as f32 / 2.0;
let centery = shift * num as f32 / 2.0;
for i in 0usize..num {
for j in 0usize..num {
let x = i as f32 * shift - centerx;
let y = j as f32 * shift - centery;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::kinematic_velocity_based();
let velocity_based_platform_handle = bodies.insert(platform_body);
let sides = [
(10.0, 0.25, vector![0.0, 10.0]),
(10.0, 0.25, vector![0.0, -10.0]),
(0.25, 10.0, vector![10.0, 0.0]),
(0.25, 10.0, vector![-10.0, 0.0]),
];
let balls = [
(1.25, vector![6.0, 6.0]),
(1.25, vector![-6.0, 6.0]),
(1.25, vector![6.0, -6.0]),
(1.25, vector![-6.0, -6.0]),
];
for (hx, hy, pos) in sides {
let collider = ColliderBuilder::cuboid(hx, hy).translation(pos);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
}
for (r, pos) in balls {
let collider = ColliderBuilder::ball(r).translation(pos);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
}
/*
* Setup a callback to control the platform.
*/
testbed.add_callback(move |_, physics, _, _| {
// Update the velocity-based kinematic body by setting its velocity.
if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
platform.set_angvel(-0.15, true);
}
});
/*
* Run the simulation.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 1.0], 40.0);
}
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