125 lines
4.2 KiB
Rust
125 lines
4.2 KiB
Rust
use na::{Isometry2, Point2, Point3};
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use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
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use rapier2d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
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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 joints = JointSet::new();
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/*
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* Ground
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*/
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let ground_size = 25.0;
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let ground_thickness = 0.1;
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let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true).build();
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
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colliders.insert(collider, ground_handle, &mut bodies);
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let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
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.translation(-3.0, 0.0)
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.build();
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colliders.insert(collider, ground_handle, &mut bodies);
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let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
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.translation(6.0, 0.0)
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.build();
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colliders.insert(collider, ground_handle, &mut bodies);
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let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
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.translation(2.5, 0.0)
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.sensor(true)
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.build();
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let sensor_handle = colliders.insert(collider, ground_handle, &mut bodies);
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/*
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* Create the shapes
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*/
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let radx = 0.4;
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let rady = 0.05;
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let delta1 = Isometry2::translation(0.0, radx - rady);
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let delta2 = Isometry2::translation(-radx + rady, 0.0);
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let delta3 = Isometry2::translation(radx - rady, 0.0);
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let mut compound_parts = Vec::new();
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let vertical = SharedShape::cuboid(rady, radx);
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let horizontal = SharedShape::cuboid(radx, rady);
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compound_parts.push((delta1, horizontal));
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compound_parts.push((delta2, vertical.clone()));
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compound_parts.push((delta3, vertical));
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let compound_shape = SharedShape::compound(compound_parts);
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let num = 6;
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let shift = (radx + 0.01) * 2.0;
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let centerx = shift * num as f32 / 2.0 - 0.5;
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let centery = shift / 2.0 + 4.0;
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for i in 0usize..num {
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for j in 0..num {
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let x = i as f32 * shift - centerx;
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let y = j as f32 * shift + centery;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(x, y)
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.linvel(100.0, -10.0)
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.ccd_enabled(true)
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.build();
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let handle = bodies.insert(rigid_body);
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// for part in &compound_parts {
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// let collider = ColliderBuilder::new(part.1.clone())
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// .position_wrt_parent(part.0)
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// .build();
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// colliders.insert(collider, handle, &mut bodies);
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// }
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let collider = ColliderBuilder::new(compound_shape.clone()).build();
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// let collider = ColliderBuilder::cuboid(radx, rady).build();
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colliders.insert(collider, handle, &mut bodies);
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}
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}
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// Callback that will be executed on the main loop to handle proximities.
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testbed.add_callback(move |_, mut graphics, physics, events, _| {
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while let Ok(prox) = events.intersection_events.try_recv() {
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let color = if prox.intersecting {
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Point3::new(1.0, 1.0, 0.0)
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} else {
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Point3::new(0.5, 0.5, 1.0)
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};
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let parent_handle1 = physics.colliders.get(prox.collider1).unwrap().parent();
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let parent_handle2 = physics.colliders.get(prox.collider2).unwrap().parent();
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if let Some(graphics) = &mut graphics {
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if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
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graphics.set_body_color(parent_handle1, color);
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}
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if parent_handle2 != ground_handle && prox.collider2 != sensor_handle {
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graphics.set_body_color(parent_handle2, color);
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}
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}
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}
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});
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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, joints);
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testbed.look_at(Point2::new(0.0, 2.5), 20.0);
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}
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fn main() {
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let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
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testbed.run()
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}
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