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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();
/*
* Ground
*/
let ground = bodies.insert(RigidBodyBuilder::fixed());
/*
* Create the bridge.
*/
let count = 40;
let hx = 0.5;
let density = 20.0;
let friction = 0.6;
let capsule = ColliderBuilder::capsule_x(hx, 0.125)
.friction(friction)
.density(density);
let mut prev = ground;
for i in 0..count {
let rigid_body = RigidBodyBuilder::dynamic()
.linear_damping(0.1)
.angular_damping(0.1)
.translation(vector![(1.0 + 2.0 * i as f32) * hx, count as f32 * hx]);
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(capsule.clone(), handle, &mut bodies);
let pivot = point![(2.0 * i as f32) * hx, count as f32 * hx];
let joint = RevoluteJointBuilder::new()
.local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
.local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
.contacts_enabled(false);
impulse_joints.insert(prev, handle, joint, true);
prev = handle;
}
let radius = 8.0;
let rigid_body = RigidBodyBuilder::dynamic()
.linear_damping(0.1)
.angular_damping(0.1)
.translation(vector![
(1.0 + 2.0 * count as f32) * hx + radius - hx,
count as f32 * hx
]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(radius)
.friction(friction)
.density(density);
colliders.insert_with_parent(collider, handle, &mut bodies);
let pivot = point![(2.0 * count as f32) * hx, count as f32 * hx];
let joint = RevoluteJointBuilder::new()
.local_anchor1(bodies[prev].position().inverse_transform_point(&pivot))
.local_anchor2(bodies[handle].position().inverse_transform_point(&pivot))
.contacts_enabled(false);
impulse_joints.insert(prev, handle, joint, true);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 2.5], 20.0);
}
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