54 lines
1.7 KiB
Rust
54 lines
1.7 KiB
Rust
use rapier2d::prelude::*;
|
|
use rapier_testbed2d::Testbed;
|
|
|
|
// This shows a bug when a cylinder is in contact with a very large
|
|
// but very thin cuboid. In this case the EPA returns an incorrect
|
|
// contact normal, resulting in the cylinder falling through the floor.
|
|
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();
|
|
|
|
/*
|
|
* The ground
|
|
*/
|
|
let ground_size = 5.0;
|
|
let ground_height = 0.1;
|
|
|
|
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
/*
|
|
* A rectangle that only rotate.
|
|
*/
|
|
let rigid_body = RigidBodyBuilder::dynamic()
|
|
.translation(vector![0.0, 3.0])
|
|
.lock_translations();
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(2.0, 0.6);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
/*
|
|
* A tilted capsule that cannot rotate.
|
|
*/
|
|
let rigid_body = RigidBodyBuilder::dynamic()
|
|
.translation(vector![0.0, 5.0])
|
|
.rotation(1.0)
|
|
.lock_rotations();
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::capsule_y(0.6, 0.4);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(point![0.0, 0.0], 40.0);
|
|
}
|