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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();
/*
* Ground.
*/
let ground_size = 200.1;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* Create some boxes.
*/
let num = 10;
let rad = 0.2;
let shift = rad * 2.0;
let centerx = shift * num as f32 / 2.0;
for i in 0usize..num {
let x = i as f32 * shift - centerx;
let y = 3.0;
// 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);
testbed.set_initial_body_color(handle, [0.5, 0.5, 1.0]);
}
/*
* Create a cube that will have a ball-shaped sensor attached.
*/
// Rigid body so that the sensor can move.
let sensor = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0]);
let sensor_handle = bodies.insert(sensor);
// Solid cube attached to the sensor which
// other colliders can touch.
let collider = ColliderBuilder::cuboid(rad, rad);
colliders.insert_with_parent(collider, sensor_handle, &mut bodies);
// We create a collider desc without density because we don't
// want it to contribute to the rigid body mass.
let sensor_collider = ColliderBuilder::ball(rad * 5.0)
.density(0.0)
.sensor(true)
.active_events(ActiveEvents::COLLISION_EVENTS);
colliders.insert_with_parent(sensor_collider, sensor_handle, &mut bodies);
testbed.set_initial_body_color(sensor_handle, [0.5, 1.0, 1.0]);
// Callback that will be executed on the main loop to handle proximities.
testbed.add_callback(move |mut graphics, physics, events, _| {
while let Ok(prox) = events.events.try_recv() {
let color = if prox.started() {
[1.0, 1.0, 0.0]
} else {
[0.5, 0.5, 1.0]
};
let parent_handle1 = physics.colliders[prox.collider1()].parent().unwrap();
let parent_handle2 = physics.colliders[prox.collider2()].parent().unwrap();
if let Some(graphics) = &mut graphics {
if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
}
if parent_handle2 != ground_handle && parent_handle2 != sensor_handle {
graphics.set_body_color(parent_handle2, color);
}
}
}
});
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![0.0, 1.0], 100.0);
}
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