62 lines
2.0 KiB
Rust
62 lines
2.0 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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* Create the balls
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*/
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// Build the rigid body.
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let rad = 0.4;
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let num = 10;
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let shift = 1.0;
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for l in 0..25 {
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let y = l as f32 * shift * (num as f32 + 2.0) * 2.0;
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for j in 0..50 {
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let x = j as f32 * shift * 4.0;
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let ground = RigidBodyBuilder::fixed().translation(vector![x, y]);
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let mut curr_parent = bodies.insert(ground);
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let collider = ColliderBuilder::cuboid(rad, rad);
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colliders.insert_with_parent(collider, curr_parent, &mut bodies);
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for i in 0..num {
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let y = y - (i + 1) as f32 * shift;
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let density = 1.0;
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
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let curr_child = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad).density(density);
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colliders.insert_with_parent(collider, curr_child, &mut bodies);
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let axis = if i % 2 == 0 {
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UnitVector::new_normalize(vector![1.0, 1.0])
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} else {
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UnitVector::new_normalize(vector![-1.0, 1.0])
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};
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let prism = PrismaticJointBuilder::new(axis)
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.local_anchor2(point![0.0, shift])
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.limits([-1.5, 1.5]);
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impulse_joints.insert(curr_parent, curr_child, prism);
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curr_parent = curr_child;
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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, impulse_joints, multibody_joints);
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testbed.look_at(point![80.0, 80.0], 15.0);
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}
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