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
|
use na::Point2;
use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier2d::geometry::{ColliderBuilder, ColliderSet};
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 = 10.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the boxes
*/
let num = 6;
let rad = 0.2;
let shift = rad * 2.0;
let centerx = shift * num as f32 / 2.0;
let centery = shift / 2.0 + 3.04;
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::new_dynamic().translation(x, y).build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(rad, rad).build();
colliders.insert(collider, handle, &mut bodies);
}
}
/*
* Setup a kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic()
.translation(-10.0 * rad, 1.5 + 0.8)
.build();
let platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
colliders.insert(collider, platform_handle, &mut bodies);
/*
* Setup a callback to control the platform.
*/
testbed.add_callback(move |_, physics, _, _, time| {
let platform = physics.bodies.get_mut(platform_handle).unwrap();
let mut next_pos = *platform.position();
let dt = 0.016;
next_pos.translation.vector.y += (time * 5.0).sin() * dt;
next_pos.translation.vector.x += time.sin() * 5.0 * dt;
if next_pos.translation.vector.x >= rad * 10.0 {
next_pos.translation.vector.x -= dt;
}
if next_pos.translation.vector.x <= -rad * 10.0 {
next_pos.translation.vector.x += dt;
}
platform.set_next_kinematic_position(next_pos);
});
/*
* Run the simulation.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point2::new(0.0, 1.0), 40.0);
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Kinematic body", init_world)]);
testbed.run()
}
|
