95bd6fcfeb
* feat: switch to the new Bvh from parry for the broad-phase * chore: cargo fmt + update testbed * chore: remove the multi-grid SAP broad-phase * fix soft-ccd handling in broad-phase * Fix contact cleanup in broad-phase after collider removal * chore: clippy fixes * fix CCD regression * chore: update changelog * fix build with the parallel feature enabled * chore: remove the now useless broad-phase proxy index from colliders * fix tests
48 lines
1.3 KiB
Rust
48 lines
1.3 KiB
Rust
use rapier_testbed2d::Testbed;
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use rapier2d::prelude::*;
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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 impulse_joints = ImpulseJointSet::new();
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let multibody_joints = MultibodyJointSet::new();
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let num = 80;
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let rad = 0.5;
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/*
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* Ground
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*/
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let ground_size = 1.0;
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let ground_thickness = 1.0;
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let rigid_body = RigidBodyBuilder::fixed();
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let ground_handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).friction(0.3);
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colliders.insert_with_parent(collider, ground_handle, &mut bodies);
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/*
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* Create the cubes
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*/
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for i in 0..num {
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let y = i as f32 * rad * 2.0 + ground_thickness + rad;
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// Build the rigid body.
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, y]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(rad, rad).friction(0.3);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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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.harness_mut().physics.gravity.y = -981.0;
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testbed.look_at(point![0.0, 2.5], 5.0);
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}
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