145 lines
4.6 KiB
Plaintext
145 lines
4.6 KiB
Plaintext
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extern crate nalgebra as na;
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use na::{Point2, Point3, RealField, Vector2};
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use ncollide2d::pipeline::CollisionGroups;
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use ncollide2d::shape::{Cuboid, ShapeHandle};
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use nphysics2d::force_generator::DefaultForceGeneratorSet;
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use nphysics2d::joint::DefaultJointConstraintSet;
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use nphysics2d::object::{
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BodyPartHandle, ColliderDesc, DefaultBodySet, DefaultColliderSet, Ground, RigidBodyDesc,
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};
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use nphysics2d::world::{DefaultGeometricalWorld, DefaultMechanicalWorld};
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use nphysics_testbed2d::Testbed;
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macro_rules! r(
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($e: expr) => {
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nalgebra::convert::<f64, N>($e)
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}
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);
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/*
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* NOTE: The `r` macro is only here to convert from f64 to the `N` scalar type.
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* This simplifies experimentation with various scalar types (f32, fixed-point numbers, etc.)
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*/
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pub fn init_world<N: RealField>(testbed: &mut Testbed<N>) {
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/*
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* World
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*/
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let mechanical_world = DefaultMechanicalWorld::new(Vector2::new(r!(0.0), r!(-9.81)));
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let geometrical_world = DefaultGeometricalWorld::new();
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let mut bodies = DefaultBodySet::new();
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let mut colliders = DefaultColliderSet::new();
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let joint_constraints = DefaultJointConstraintSet::new();
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let force_generators = DefaultForceGeneratorSet::new();
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/*
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* Setup a static body used as the ground.
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*/
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let ground_handle = bodies.insert(Ground::new());
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/*
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* Setup groups.
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*/
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const GREEN_GROUP_ID: usize = 0;
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let mut green_group = CollisionGroups::new();
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green_group.set_membership(&[GREEN_GROUP_ID]);
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green_group.set_whitelist(&[GREEN_GROUP_ID]);
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const BLUE_GROUP_ID: usize = 1;
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let mut blue_group = CollisionGroups::new();
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blue_group.set_membership(&[BLUE_GROUP_ID]);
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blue_group.set_whitelist(&[BLUE_GROUP_ID]);
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/*
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* A floor that will collide with everything (default behaviour).
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*/
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let ground_thickness = r!(0.2);
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let ground_shape = ShapeHandle::new(Cuboid::new(Vector2::new(r!(3.0), ground_thickness)));
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let main_floor = ColliderDesc::new(ground_shape)
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.translation(Vector2::y() * -ground_thickness)
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.build(BodyPartHandle(ground_handle, 0));
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colliders.insert(main_floor);
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/*
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* A green floor that will collide with the GREEN group only.
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*/
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let ground_shape = ShapeHandle::new(Cuboid::new(Vector2::new(r!(1.0), r!(0.1))));
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let green_floor = ColliderDesc::new(ground_shape.clone())
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.translation(Vector2::y())
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.collision_groups(green_group)
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.build(BodyPartHandle(ground_handle, 0));
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let green_collider_handle = colliders.insert(green_floor);
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testbed.set_collider_color(green_collider_handle, Point3::new(0.0, 1.0, 0.0));
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/*
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* A blue floor that will collide with the BLUE group only.
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*/
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let blue_floor = ColliderDesc::new(ground_shape)
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.translation(Vector2::y() * r!(2.0))
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.collision_groups(blue_group)
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.build(BodyPartHandle(ground_handle, 0));
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let blue_collider_handle = colliders.insert(blue_floor);
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testbed.set_collider_color(blue_collider_handle, Point3::new(0.0, 0.0, 1.0));
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/*
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* Create the boxes
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*/
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let num = 8;
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let rad = r!(0.1);
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let cuboid = ShapeHandle::new(Cuboid::new(Vector2::repeat(rad)));
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let shift = (rad + ColliderDesc::<N>::default_margin()) * r!(2.0);
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let centerx = shift * r!(num as f64) / r!(2.0);
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let centery = r!(2.5);
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for k in 0usize..4 {
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for i in 0usize..num {
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let x = r!(i as f64) * shift - centerx;
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let y = r!(k as f64) * shift + centery;
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// Alternate between the GREEN and BLUE groups.
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let (group, color) = if k % 2 == 0 {
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(green_group, Point3::new(0.0, 1.0, 0.0))
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} else {
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(blue_group, Point3::new(0.0, 0.0, 1.0))
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};
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// Build the rigid body.
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let rb = RigidBodyDesc::new().translation(Vector2::new(x, y)).build();
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let rb_handle = bodies.insert(rb);
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// Build the collider.
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let co = ColliderDesc::new(cuboid.clone())
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.density(r!(1.0))
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.collision_groups(group)
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.build(BodyPartHandle(rb_handle, 0));
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colliders.insert(co);
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testbed.set_body_color(rb_handle, color);
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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_ground_handle(Some(ground_handle));
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testbed.set_world(
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mechanical_world,
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geometrical_world,
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bodies,
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colliders,
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joint_constraints,
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force_generators,
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);
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testbed.look_at(Point2::new(0.0, 1.0), 100.0);
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}
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fn main() {
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let testbed = Testbed::<f32>::from_builders(0, vec![("Collision groups", init_world)]);
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testbed.run()
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}
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