5f687b0d29
* Additional groove joint 2D implementation with 1 translation + 1 rotation * Conditional import for 2d feature flag * Groove joint 2d tests in testbed examples * Renamed GrooveJoint to PinSlotJoint * cargo fmt * Cross-reference to groove joint in Godot engine
87 lines
2.9 KiB
Rust
87 lines
2.9 KiB
Rust
use rapier2d::prelude::*;
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use rapier_testbed2d::Testbed;
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pub fn init_world(testbed: &mut Testbed) {
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/*
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* World
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*/
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let mut bodies = RigidBodySet::new();
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let mut colliders = ColliderSet::new();
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let mut impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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/*
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* Ground
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*/
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let ground_size = 3.0;
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let ground_height = 0.1;
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let rigid_body_floor = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
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let floor_handle = bodies.insert(rigid_body_floor);
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let floor_collider = ColliderBuilder::cuboid(ground_size, ground_height);
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colliders.insert_with_parent(floor_collider, floor_handle, &mut bodies);
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/*
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* Character we will control manually.
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*/
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let rigid_body_character =
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RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3]);
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let character_handle = bodies.insert(rigid_body_character);
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let character_collider = ColliderBuilder::cuboid(0.15, 0.3);
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colliders.insert_with_parent(character_collider, character_handle, &mut bodies);
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/*
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* Tethered cube.
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*/
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let rad = 0.4;
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let rigid_body_cube =
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RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
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let cube_handle = bodies.insert(rigid_body_cube);
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let cube_collider = ColliderBuilder::cuboid(rad, rad);
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colliders.insert_with_parent(cube_collider, cube_handle, &mut bodies);
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/*
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* Rotation axis indicator ball.
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*/
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let rigid_body_ball =
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RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
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let ball_handle = bodies.insert(rigid_body_ball);
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let ball_collider = ColliderBuilder::ball(0.1);
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colliders.insert_with_parent(ball_collider, ball_handle, &mut bodies);
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/*
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* Fixed joint between rotation axis indicator and cube.
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*/
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let fixed_joint = FixedJointBuilder::new()
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.local_anchor1(point![0.0, 0.0])
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.local_anchor2(point![0.0, -0.4])
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.build();
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impulse_joints.insert(cube_handle, ball_handle, fixed_joint, true);
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/*
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* Pin slot joint between cube and ground.
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*/
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let axis: nalgebra::Unit<
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nalgebra::Matrix<
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f32,
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nalgebra::Const<2>,
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nalgebra::Const<1>,
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nalgebra::ArrayStorage<f32, 2, 1>,
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>,
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> = UnitVector::new_normalize(vector![1.0, 1.0]);
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let pin_slot_joint = PinSlotJointBuilder::new(axis)
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.local_anchor1(point![2.0, 2.0])
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.local_anchor2(point![0.0, 0.4])
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.limits([-1.0, f32::INFINITY]) // Set the limits for the pin slot joint
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.build();
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impulse_joints.insert(character_handle, cube_handle, pin_slot_joint, true);
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/*
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* Set up the testbed.
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*/
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testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
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testbed.set_character_body(character_handle);
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testbed.look_at(point![0.0, 1.0], 100.0);
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}
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