54 lines
1.6 KiB
Rust
54 lines
1.6 KiB
Rust
use rapier2d::prelude::*;
|
|
use rapier_testbed2d::Testbed;
|
|
|
|
pub fn init_world(testbed: &mut Testbed) {
|
|
/*
|
|
* World
|
|
*/
|
|
let mut bodies = RigidBodySet::new();
|
|
let mut colliders = ColliderSet::new();
|
|
let mut impulse_joints = ImpulseJointSet::new();
|
|
let multibody_joints = MultibodyJointSet::new();
|
|
|
|
/*
|
|
* The ground
|
|
*/
|
|
let ground_size = 5.0;
|
|
let ground_height = 0.1;
|
|
|
|
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
|
|
let ground_handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
|
|
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
|
|
|
|
/*
|
|
* A rectangle on a motor
|
|
*/
|
|
for num in 0..9 {
|
|
let x_pos = -6.0 + 1.5 * num as f32;
|
|
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x_pos, 2.0]);
|
|
let handle = bodies.insert(rigid_body);
|
|
let collider = ColliderBuilder::cuboid(0.1, 0.5);
|
|
colliders.insert_with_parent(collider, handle, &mut bodies);
|
|
|
|
let joint = RevoluteJointBuilder::new()
|
|
.local_anchor2(point![x_pos, 1.5])
|
|
.local_anchor1(point![0.0, -0.5])
|
|
.motor_position(std::f32::consts::PI / 4.0 * num as f32, 100.0, 15.0);
|
|
impulse_joints.insert(handle, ground_handle, joint, true);
|
|
}
|
|
|
|
/*
|
|
* Set up the testbed.
|
|
*/
|
|
testbed.set_world_with_params(
|
|
bodies,
|
|
colliders,
|
|
impulse_joints,
|
|
multibody_joints,
|
|
vector![0.0, 0.0],
|
|
(),
|
|
);
|
|
testbed.look_at(point![0.0, 0.0], 40.0);
|
|
}
|