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
76 lines
2.4 KiB
Rust
76 lines
2.4 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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/*
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* Ground
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*/
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let width = 75.0;
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let thickness = 2.0;
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let ys = [-30.0 - thickness, 30.0 + thickness];
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for y in ys {
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let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, y]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(width, thickness);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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}
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// Build two compression boxes rigid body.
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let half_height = (ys[1] - ys[0]) / 2.0 - thickness;
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let xs = [-width + thickness, width - thickness];
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let mut handles = [RigidBodyHandle::invalid(); 2];
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for i in 0..2 {
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![xs[i], 0.0]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(thickness, half_height);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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handles[i] = handle;
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}
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// Build the balls.
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let num = 8;
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let rad = half_height / (num as f32);
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for i in 0..num {
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for j in 0..num {
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let x = i as f32 * rad * 2.0 - num as f32 * rad;
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let y = j as f32 * rad * 2.0 - num as f32 * rad + rad;
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let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::ball(rad);
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colliders.insert_with_parent(collider, handle, &mut bodies);
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}
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}
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let mut force = vector![0.0, 0.0];
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testbed.add_callback(move |_, physics, _, _| {
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let left_plank = &mut physics.bodies[handles[0]];
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left_plank.reset_forces(true);
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left_plank.add_force(force, true);
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let right_plank = &mut physics.bodies[handles[1]];
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right_plank.reset_forces(true);
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right_plank.add_force(-force, true);
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force.x += 10000.0;
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println!("force: {}", force.x);
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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], 50.0);
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}
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