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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();
/*
* Create the joint grid.
*/
let rad = 0.4;
let numi = 100;
let numk = 100;
let shift = 1.0;
let mut index = 0;
let mut handles = vec![RigidBodyHandle::invalid(); numi * numk];
for k in 0..numk {
for i in 0..numi {
let body_type = if k >= numk / 2 - 3 && k <= numk / 2 + 3 && i == 0 {
RigidBodyType::Fixed
} else {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(body_type)
.translation(vector![k as f32 * shift, -(i as f32) * shift]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
if i > 0 {
let joint = RevoluteJointBuilder::new()
.local_anchor1(point![0.0, -0.5 * shift])
.local_anchor2(point![0.0, 0.5 * shift])
.contacts_enabled(false);
impulse_joints.insert(handles[index - 1], handle, joint, true);
}
if k > 0 {
let joint = RevoluteJointBuilder::new()
.local_anchor1(point![0.5 * shift, 0.0])
.local_anchor2(point![-0.5 * shift, 0.0])
.contacts_enabled(false);
impulse_joints.insert(handles[index - numi], handle, joint, true);
}
handles[index] = handle;
index += 1;
}
}
/*
* 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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