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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 mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Fixed ground to attach one end of the joints.
*/
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
/*
* A rectangle on a motor with target position.
*/
for num in 0..9 {
let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 2.0])
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.1, 0.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let joint = RevoluteJointBuilder::new()
.local_anchor1(point![x_pos, 1.5])
.local_anchor2(point![0.0, -0.5])
.motor_position(
-std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
1000.0,
150.0,
);
impulse_joints.insert(ground_handle, handle, joint, true);
}
/*
* A rectangle on a motor with limits.
*/
for num in 0..8 {
let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 4.5])
.rotation(std::f32::consts::PI)
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.1, 0.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let joint = RevoluteJointBuilder::new()
.local_anchor1(point![x_pos, 5.0])
.local_anchor2(point![0.0, -0.5])
.motor_velocity(1.5, 30.0)
.motor_max_force(100.0)
.limits([
-std::f32::consts::PI,
-std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
]);
impulse_joints.insert(ground_handle, handle, joint, true);
}
/*
* Set up the testbed.
*/
testbed.set_world_with_params(
bodies,
colliders,
impulse_joints,
multibody_joints,
vector![0.0, 0.0],
(),
);
testbed.look_at(point![0.0, 0.0], 40.0);
}
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