79 lines
2.6 KiB
Rust
79 lines
2.6 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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let mut bodies = RigidBodySet::new();
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let mut colliders = ColliderSet::new();
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let impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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let rad = 0.5;
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let positions = [vector![5.0, -1.0], vector![-5.0, -1.0]];
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let platform_handles = positions
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.into_iter()
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.map(|pos| {
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let rigid_body = RigidBodyBuilder::new_kinematic_position_based()
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.translation(pos)
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad * 10.0, rad).build();
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colliders.insert_with_parent(collider, handle, &mut bodies);
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handle
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})
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.collect::<Vec<_>>();
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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, _, state| {
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let rot = state.time * -1.0;
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for rb_handle in &platform_handles {
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let rb = physics.bodies.get_mut(*rb_handle).unwrap();
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rb.set_next_kinematic_rotation(rot);
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}
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if state.timestep_id % 10 == 0 {
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let x = rand::random::<f32>() * 10.0 - 5.0;
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let y = rand::random::<f32>() * 10.0 + 10.0;
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let rigid_body = RigidBodyBuilder::new_dynamic()
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.translation(vector![x, y])
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.build();
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let handle = physics.bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad).build();
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physics
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.colliders
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.insert_with_parent(collider, handle, &mut physics.bodies);
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if let Some(graphics) = &mut graphics {
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graphics.add_body(handle, &physics.bodies, &physics.colliders);
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}
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}
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let to_remove: Vec<_> = physics
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.bodies
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.iter()
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.filter(|(_, b)| b.position().translation.vector.y < -10.0)
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.map(|e| e.0)
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.collect();
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for handle in to_remove {
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physics.bodies.remove(
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handle,
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&mut physics.islands,
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&mut physics.colliders,
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&mut physics.impulse_joints,
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&mut physics.multibody_joints,
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);
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if let Some(graphics) = &mut graphics {
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graphics.remove_body(handle);
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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![0.0, 0.0], 20.0);
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}
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