0b7c3b34ec
* feat: migrate to glam whenever relevant + migrate testbed to kiss3d instead of bevy * chore: update changelog * Fix warnings and tests * Release v0.32.0
76 lines
2.5 KiB
Rust
76 lines
2.5 KiB
Rust
use rapier_testbed2d::Testbed;
|
|
use rapier2d::prelude::*;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
let rad = 0.5;
|
|
|
|
let positions = [Vector::new(5.0, -1.0), Vector::new(-5.0, -1.0)];
|
|
|
|
let platform_handles = positions
|
|
.into_iter()
|
|
.map(|pos| {
|
|
let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(pos);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(rad * 10.0, rad);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
handle
|
|
})
|
|
.collect::<Vec<_>>();
|
|
|
|
// Callback that will be executed on the main loop to handle proximities.
|
|
testbed.add_callback(move |mut graphics, physics, _, state| {
|
|
let rot = -state.time;
|
|
for rb_handle in &platform_handles {
|
|
let rb = physics.bodies.get_mut(*rb_handle).unwrap();
|
|
rb.set_next_kinematic_rotation(Rotation::new(rot));
|
|
}
|
|
|
|
if state.timestep_id % 10 == 0 {
|
|
let x = rand::random::<f32>() * 10.0 - 5.0;
|
|
let y = rand::random::<f32>() * 10.0 + 10.0;
|
|
let rigid_body = RigidBodyBuilder::dynamic().translation(Vector::new(x, y));
|
|
let handle = physics.bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(rad, rad);
|
|
physics
|
|
.colliders
|
|
.insert_with_parent(collider, handle, &mut physics.bodies);
|
|
|
|
if let Some(graphics) = &mut graphics {
|
|
graphics.add_body(handle, &physics.bodies, &physics.colliders);
|
|
}
|
|
}
|
|
|
|
let to_remove: Vec<_> = physics
|
|
.bodies
|
|
.iter()
|
|
.filter(|(_, b)| b.position().translation.y < -10.0)
|
|
.map(|e| e.0)
|
|
.collect();
|
|
for handle in to_remove {
|
|
physics.bodies.remove(
|
|
handle,
|
|
&mut physics.islands,
|
|
&mut physics.colliders,
|
|
&mut physics.impulse_joints,
|
|
&mut physics.multibody_joints,
|
|
true,
|
|
);
|
|
|
|
if let Some(graphics) = &mut graphics {
|
|
graphics.remove_body(handle);
|
|
}
|
|
}
|
|
});
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
|
|
testbed.look_at(Vec2::ZERO, 20.0);
|
|
}
|