pub fn to_pos(v: Vec2) -> PosExpand description
Convert a vector to a world position. no-op in single precision.
Examples found in repository?
examples/demo_scenes.rs (line 12)
10fn add_static_box(world: &mut World, x: f32, y: f32, hx: f32, hy: f32) -> i32 {
11 let mut body_def = default_body_def();
12 body_def.position = m::to_pos(m::Vec2 { x, y });
13 let id = create_body(world, &body_def);
14 let def = default_shape_def();
15 let poly = make_box(hx, hy);
16 create_polygon_shape(world, id, &def, &poly);
17 get_body_full_id(world, id)
18}
19
20fn add_box(world: &mut World, x: f32, y: f32, hx: f32, hy: f32) -> i32 {
21 let mut body_def = default_body_def();
22 body_def.type_ = BodyType::Dynamic;
23 body_def.position = m::to_pos(m::Vec2 { x, y });
24 let id = create_body(world, &body_def);
25 let mut def = default_shape_def();
26 def.density = 1.0;
27 def.material.friction = 0.3;
28 let poly = make_box(hx, hy);
29 create_polygon_shape(world, id, &def, &poly);
30 get_body_full_id(world, id)
31}
32
33fn add_circle(world: &mut World, x: f32, y: f32, r: f32, density: f32) -> i32 {
34 let mut body_def = default_body_def();
35 body_def.type_ = BodyType::Dynamic;
36 body_def.position = m::to_pos(m::Vec2 { x, y });
37 let id = create_body(world, &body_def);
38 let mut def = default_shape_def();
39 def.density = density;
40 def.material.friction = 0.3;
41 def.material.restitution = 0.2;
42 let circle = box2d_rust::collision::Circle {
43 center: m::VEC2_ZERO,
44 radius: r,
45 };
46 create_circle_shape(world, id, &def, &circle);
47 get_body_full_id(world, id)
48}More examples
examples/benchmark/scenes/rain.rs (lines 114-117)
103fn create_group(world: &mut World, row_index: i32, column_index: i32) {
104 debug_assert!(row_index < RAIN_ROW_COUNT && column_index < RAIN_COLUMN_COUNT);
105
106 RAIN_DATA.with(|rd| {
107 let mut rd = rd.borrow_mut();
108
109 let group_index = (row_index * RAIN_COLUMN_COUNT + column_index) as usize;
110
111 let span = rd.grid_count as f32 * rd.grid_size;
112 let group_distance = 1.0 * span / RAIN_COLUMN_COUNT as f32;
113
114 let mut position = to_pos(Vec2 {
115 x: -0.5 * span + group_distance * (column_index as f32 + 0.5),
116 y: 40.0 + 45.0 * row_index as f32,
117 });
118
119 let scale = 1.0;
120 let joint_friction = 0.05;
121 let joint_hertz = 5.0;
122 let joint_damping = 0.5;
123
124 for i in 0..RAIN_GROUP_SIZE {
125 create_human(
126 &mut rd.groups[group_index][i as usize],
127 world,
128 position,
129 scale,
130 joint_friction,
131 joint_hertz,
132 joint_damping,
133 i + 1,
134 0,
135 false,
136 );
137 position = offset_pos(position, Vec2 { x: 0.5, y: 0.0 });
138 }
139 });
140}examples/benchmark/scenes/pyramids.rs (line 53)
20pub fn create_joint_grid(world: &mut World) {
21 world_enable_sleeping(world, false);
22
23 let n: i32 = if BENCHMARK_DEBUG { 20 } else { 100 };
24
25 let mut bodies: Vec<BodyId> = Vec::with_capacity((n * n) as usize);
26
27 let mut shape_def = default_shape_def();
28 shape_def.density = 1.0;
29 shape_def.filter.category_bits = 2;
30 shape_def.filter.mask_bits = (!2u32) as u64;
31
32 let circle = Circle {
33 center: Vec2 { x: 0.0, y: 0.0 },
34 radius: 0.4,
35 };
36
37 let mut joint_def = default_revolute_joint_def();
38 joint_def.base.draw_scale = 0.4;
39
40 let mut body_def = default_body_def();
41
42 for k in 0..n {
43 for i in 0..n {
44 let fk = k as f32;
45 let fi = i as f32;
46
47 if k >= n / 2 - 3 && k <= n / 2 + 3 && i == 0 {
48 body_def.type_ = BodyType::Static;
49 } else {
50 body_def.type_ = BodyType::Dynamic;
51 }
52
53 body_def.position = to_pos(Vec2 { x: fk, y: -fi });
54
55 let body = create_body(world, &body_def);
56 create_circle_shape(world, body, &shape_def, &circle);
57
58 let index = bodies.len();
59
60 if i > 0 {
61 joint_def.base.body_id_a = bodies[index - 1];
62 joint_def.base.body_id_b = body;
63 joint_def.base.local_frame_a.p = Vec2 { x: 0.0, y: -0.5 };
64 joint_def.base.local_frame_b.p = Vec2 { x: 0.0, y: 0.5 };
65 create_revolute_joint(world, &joint_def);
66 }
67
68 if k > 0 {
69 joint_def.base.body_id_a = bodies[index - n as usize];
70 joint_def.base.body_id_b = body;
71 joint_def.base.local_frame_a.p = Vec2 { x: 0.5, y: 0.0 };
72 joint_def.base.local_frame_b.p = Vec2 { x: -0.5, y: 0.0 };
73 create_revolute_joint(world, &joint_def);
74 }
75
76 bodies.push(body);
77 }
78 }
79}
80
81// (CreateLargePyramid)
82pub fn create_large_pyramid(world: &mut World) {
83 world_enable_sleeping(world, false);
84
85 let base_count: i32 = if BENCHMARK_DEBUG { 20 } else { 100 };
86
87 {
88 let mut body_def = default_body_def();
89 body_def.position = to_pos(Vec2 { x: 0.0, y: -1.0 });
90 let ground_id = create_body(world, &body_def);
91
92 let box_shape = make_box(100.0, 1.0);
93 let shape_def = default_shape_def();
94 create_polygon_shape(world, ground_id, &shape_def, &box_shape);
95 }
96
97 let mut body_def = default_body_def();
98 body_def.type_ = BodyType::Dynamic;
99
100 let mut shape_def = default_shape_def();
101 shape_def.density = 1.0;
102
103 let a = 0.5;
104 let box_shape = make_square(a);
105
106 let shift = 1.0 * a;
107
108 for i in 0..base_count {
109 let y = (2.0 * i as f32 + 1.0) * shift;
110
111 for j in i..base_count {
112 let x = (i as f32 + 1.0) * shift + 2.0 * (j - i) as f32 * shift - a * base_count as f32;
113
114 body_def.position = to_pos(Vec2 { x, y });
115
116 let body_id = create_body(world, &body_def);
117 create_polygon_shape(world, body_id, &shape_def, &box_shape);
118 }
119 }
120}
121
122// (static CreateSmallPyramid)
123fn create_small_pyramid(
124 world: &mut World,
125 base_count: i32,
126 extent: f32,
127 center_x: f32,
128 base_y: f32,
129) {
130 let mut body_def = default_body_def();
131 body_def.type_ = BodyType::Dynamic;
132
133 let shape_def = default_shape_def();
134
135 let box_shape = make_square(extent);
136
137 for i in 0..base_count {
138 let y = (2.0 * i as f32 + 1.0) * extent + base_y;
139
140 for j in i..base_count {
141 let x = (i as f32 + 1.0) * extent + 2.0 * (j - i) as f32 * extent + center_x - 0.5;
142 body_def.position = to_pos(Vec2 { x, y });
143
144 let body_id = create_body(world, &body_def);
145 create_polygon_shape(world, body_id, &shape_def, &box_shape);
146 }
147 }
148}
149
150// (CreateManyPyramids)
151pub fn create_many_pyramids(world: &mut World) {
152 world_enable_sleeping(world, false);
153
154 let base_count = 10;
155 let extent = 0.5;
156 let row_count: i32 = if BENCHMARK_DEBUG { 5 } else { 20 };
157 let column_count: i32 = if BENCHMARK_DEBUG { 5 } else { 20 };
158
159 let body_def = default_body_def();
160 let ground_id = create_body(world, &body_def);
161
162 let ground_delta_y = 2.0 * extent * (base_count as f32 + 1.0);
163 let ground_width = 2.0 * extent * column_count as f32 * (base_count as f32 + 1.0);
164 let shape_def = default_shape_def();
165
166 let mut ground_y = 0.0;
167
168 for _ in 0..row_count {
169 let segment = Segment {
170 point1: Vec2 {
171 x: -0.5 * ground_width,
172 y: ground_y,
173 },
174 point2: Vec2 {
175 x: 0.5 * ground_width,
176 y: ground_y,
177 },
178 };
179 create_segment_shape(world, ground_id, &shape_def, &segment);
180 ground_y += ground_delta_y;
181 }
182
183 let base_width = 2.0 * extent * base_count as f32;
184 let mut base_y = 0.0;
185
186 for _ in 0..row_count {
187 for j in 0..column_count {
188 let center_x =
189 -0.5 * ground_width + j as f32 * (base_width + 2.0 * extent) + 2.0 * extent;
190 create_small_pyramid(world, base_count, extent, center_x, base_y);
191 }
192
193 base_y += ground_delta_y;
194 }
195}
196
197// (CreateCompounds)
198// Lifted from samples/sample_benchmark.cpp BenchmarkBarrel (e_compoundShape
199// branch). Each dynamic body is a compound of two triangular polygon shapes.
200pub fn create_compounds(world: &mut World) {
201 {
202 let grid_size = 1.0;
203
204 let body_def = default_body_def();
205 let ground_id = create_body(world, &body_def);
206
207 let shape_def = default_shape_def();
208
209 let y = 0.0;
210 let mut x = -40.0 * grid_size;
211 for _ in 0..81 {
212 let box_shape = make_offset_box(
213 0.55 * grid_size,
214 0.5 * grid_size,
215 Vec2 { x, y },
216 ROT_IDENTITY,
217 );
218 create_polygon_shape(world, ground_id, &shape_def, &box_shape);
219 x += grid_size;
220 }
221
222 let mut y = grid_size;
223 let x = -40.0 * grid_size;
224 for _ in 0..100 {
225 let box_shape = make_offset_box(
226 0.5 * grid_size,
227 0.55 * grid_size,
228 Vec2 { x, y },
229 ROT_IDENTITY,
230 );
231 create_polygon_shape(world, ground_id, &shape_def, &box_shape);
232 y += grid_size;
233 }
234
235 let mut y = grid_size;
236 let x = 40.0 * grid_size;
237 for _ in 0..100 {
238 let box_shape = make_offset_box(
239 0.5 * grid_size,
240 0.55 * grid_size,
241 Vec2 { x, y },
242 ROT_IDENTITY,
243 );
244 create_polygon_shape(world, ground_id, &shape_def, &box_shape);
245 y += grid_size;
246 }
247
248 let segment = Segment {
249 point1: Vec2 {
250 x: -800.0,
251 y: -80.0,
252 },
253 point2: Vec2 { x: 800.0, y: -80.0 },
254 };
255 create_segment_shape(world, ground_id, &shape_def, &segment);
256 }
257
258 let column_count: i32 = if BENCHMARK_DEBUG { 10 } else { 20 };
259 let row_count: i32 = if BENCHMARK_DEBUG { 40 } else { 150 };
260
261 let left_points = [
262 Vec2 { x: -1.0, y: 0.0 },
263 Vec2 { x: 0.5, y: 1.0 },
264 Vec2 { x: 0.0, y: 2.0 },
265 ];
266 let left_hull = compute_hull(&left_points);
267 let left = make_polygon(&left_hull, 0.0);
268
269 let right_points = [
270 Vec2 { x: 1.0, y: 0.0 },
271 Vec2 { x: -0.5, y: 1.0 },
272 Vec2 { x: 0.0, y: 2.0 },
273 ];
274 let right_hull = compute_hull(&right_points);
275 let right = make_polygon(&right_hull, 0.0);
276
277 let mut body_def = default_body_def();
278 body_def.type_ = BodyType::Dynamic;
279
280 let mut shape_def = default_shape_def();
281 shape_def.density = 1.0;
282 shape_def.material.friction = 0.5;
283
284 // Match the sample exactly: centery is computed before shift is reset for
285 // the compound branch.
286 let shift = 2.0;
287 let extray = 0.25;
288 let mut side = 0.25;
289 let centerx = shift * column_count as f32 / 2.0 - 1.0;
290 let centery = 1.15 / 2.0;
291 let y_start = 5.0;
292
293 for i in 0..column_count {
294 let x = i as f32 * shift - centerx;
295
296 for j in 0..row_count {
297 let y = j as f32 * (shift + extray) + centery + y_start;
298
299 body_def.position = to_pos(Vec2 { x: x + side, y });
300 side = -side;
301
302 let body_id = create_body(world, &body_def);
303 create_polygon_shape(world, body_id, &shape_def, &left);
304 create_polygon_shape(world, body_id, &shape_def, &right);
305 }
306 }
307}examples/benchmark/scenes/machines.rs (line 77)
39pub fn create_spinner(world: &mut World) {
40 let ground_id;
41 {
42 let body_def = default_body_def();
43 ground_id = create_body(world, &body_def);
44
45 let q = make_rot(-2.0 * PI / SPINNER_POINT_COUNT as f32);
46 let mut p = Vec2 { x: 40.0, y: 0.0 };
47 let mut points: Vec<Vec2> = Vec::with_capacity(SPINNER_POINT_COUNT);
48 for _ in 0..SPINNER_POINT_COUNT {
49 points.push(Vec2 {
50 x: p.x,
51 y: p.y + 32.0,
52 });
53 p = rotate_vector(q, p);
54 }
55
56 // C: b2SurfaceMaterial material = { 0 }; material.friction = 0.1f;
57 let material = SurfaceMaterial {
58 friction: 0.1,
59 restitution: 0.0,
60 rolling_resistance: 0.0,
61 tangent_speed: 0.0,
62 user_material_id: 0,
63 custom_color: 0,
64 };
65
66 let mut chain_def = default_chain_def();
67 chain_def.points = points;
68 chain_def.is_loop = true;
69 chain_def.materials = vec![material];
70
71 create_chain(world, ground_id, &chain_def);
72 }
73
74 {
75 let mut body_def = default_body_def();
76 body_def.type_ = BodyType::Dynamic;
77 body_def.position = to_pos(Vec2 { x: 0.0, y: 12.0 });
78 body_def.enable_sleep = false;
79
80 let spinner_id = create_body(world, &body_def);
81
82 let box_shape = make_rounded_box(0.4, 20.0, 0.2);
83 let mut shape_def = default_shape_def();
84 shape_def.material.friction = 0.0;
85 create_polygon_shape(world, spinner_id, &shape_def, &box_shape);
86
87 let motor_speed = 5.0;
88 let max_motor_torque = f32::MAX;
89 let mut joint_def = default_revolute_joint_def();
90 joint_def.base.body_id_a = ground_id;
91 joint_def.base.body_id_b = spinner_id;
92 joint_def.base.local_frame_a.p = body_get_local_point(world, ground_id, body_def.position);
93 joint_def.enable_motor = true;
94 joint_def.motor_speed = motor_speed;
95 joint_def.max_motor_torque = max_motor_torque;
96
97 let joint_id = create_revolute_joint(world, &joint_def);
98 SPINNER_ID.with(|id| id.set(joint_id));
99 }
100
101 let capsule = Capsule {
102 center1: Vec2 { x: -0.25, y: 0.0 },
103 center2: Vec2 { x: 0.25, y: 0.0 },
104 radius: 0.25,
105 };
106 let circle = Circle {
107 center: Vec2 { x: 0.0, y: 0.0 },
108 radius: 0.35,
109 };
110 let square = make_square(0.35);
111
112 let mut body_def = default_body_def();
113 body_def.type_ = BodyType::Dynamic;
114 let mut shape_def = default_shape_def();
115 shape_def.material.friction = 0.1;
116 shape_def.material.restitution = 0.1;
117 shape_def.density = 0.25;
118
119 let body_count: i32 = if BENCHMARK_DEBUG { 499 } else { 2 * 3038 };
120
121 let mut x = -23.0;
122 let mut y = 2.0;
123 for i in 0..body_count {
124 body_def.position = to_pos(Vec2 { x, y });
125 let body_id = create_body(world, &body_def);
126
127 let remainder = i % 3;
128 if remainder == 0 {
129 create_capsule_shape(world, body_id, &shape_def, &capsule);
130 } else if remainder == 1 {
131 create_circle_shape(world, body_id, &shape_def, &circle);
132 } else if remainder == 2 {
133 create_polygon_shape(world, body_id, &shape_def, &square);
134 }
135
136 x += 0.5;
137
138 if x >= 23.0 {
139 x = -23.0;
140 y += 0.5;
141 }
142 }
143}
144
145// (StepSpinner)
146pub fn step_spinner(world: &mut World, _step_count: i32) -> f32 {
147 let joint_id = SPINNER_ID.with(|id| id.get());
148 revolute_joint_get_angle(world, joint_id)
149}
150
151// (CreateSmash)
152pub fn create_smash(world: &mut World) {
153 world_set_gravity(world, VEC2_ZERO);
154
155 {
156 let box_shape = make_box(4.0, 4.0);
157
158 let mut body_def = default_body_def();
159 body_def.type_ = BodyType::Dynamic;
160 body_def.position = to_pos(Vec2 { x: -20.0, y: 0.0 });
161 body_def.linear_velocity = Vec2 { x: 40.0, y: 0.0 };
162 let body_id = create_body(world, &body_def);
163
164 let mut shape_def = default_shape_def();
165 shape_def.density = 8.0;
166 create_polygon_shape(world, body_id, &shape_def, &box_shape);
167 }
168
169 let d = 0.4;
170 let box_shape = make_square(0.5 * d);
171
172 let mut body_def = default_body_def();
173 body_def.type_ = BodyType::Dynamic;
174 body_def.is_awake = false;
175
176 let shape_def = default_shape_def();
177
178 let columns: i32 = if BENCHMARK_DEBUG { 20 } else { 120 };
179 let rows: i32 = if BENCHMARK_DEBUG { 10 } else { 80 };
180
181 for i in 0..columns {
182 for j in 0..rows {
183 body_def.position = to_pos(Vec2 {
184 x: i as f32 * d + 30.0,
185 y: (j as f32 - rows as f32 / 2.0) * d,
186 });
187 let body_id = create_body(world, &body_def);
188 create_polygon_shape(world, body_id, &shape_def, &box_shape);
189 }
190 }
191}
192
193// (CreateTumbler)
194pub fn create_tumbler(world: &mut World) {
195 let ground_id;
196 {
197 let body_def = default_body_def();
198 ground_id = create_body(world, &body_def);
199 }
200
201 {
202 let mut body_def = default_body_def();
203 body_def.type_ = BodyType::Dynamic;
204 body_def.position = to_pos(Vec2 { x: 0.0, y: 10.0 });
205 let body_id = create_body(world, &body_def);
206
207 let mut shape_def = default_shape_def();
208 shape_def.density = 50.0;
209
210 let polygon = make_offset_box(0.5, 10.0, Vec2 { x: 10.0, y: 0.0 }, ROT_IDENTITY);
211 create_polygon_shape(world, body_id, &shape_def, &polygon);
212 let polygon = make_offset_box(0.5, 10.0, Vec2 { x: -10.0, y: 0.0 }, ROT_IDENTITY);
213 create_polygon_shape(world, body_id, &shape_def, &polygon);
214 let polygon = make_offset_box(10.0, 0.5, Vec2 { x: 0.0, y: 10.0 }, ROT_IDENTITY);
215 create_polygon_shape(world, body_id, &shape_def, &polygon);
216 let polygon = make_offset_box(10.0, 0.5, Vec2 { x: 0.0, y: -10.0 }, ROT_IDENTITY);
217 create_polygon_shape(world, body_id, &shape_def, &polygon);
218
219 let motor_speed = 25.0;
220
221 let mut joint_def = default_revolute_joint_def();
222 joint_def.base.body_id_a = ground_id;
223 joint_def.base.body_id_b = body_id;
224 joint_def.base.local_frame_a.p = Vec2 { x: 0.0, y: 10.0 };
225 joint_def.base.local_frame_b.p = Vec2 { x: 0.0, y: 0.0 };
226 joint_def.motor_speed = (PI / 180.0) * motor_speed;
227 joint_def.max_motor_torque = 1e8;
228 joint_def.enable_motor = true;
229
230 create_revolute_joint(world, &joint_def);
231 }
232
233 let grid_count: i32 = if BENCHMARK_DEBUG { 20 } else { 45 };
234
235 let polygon = make_box(0.125, 0.125);
236 let mut body_def = default_body_def();
237 body_def.type_ = BodyType::Dynamic;
238 let shape_def = default_shape_def();
239
240 let mut y = -0.2 * grid_count as f32 + 10.0;
241 for _ in 0..grid_count {
242 let mut x = -0.2 * grid_count as f32;
243
244 for _ in 0..grid_count {
245 body_def.position = to_pos(Vec2 { x, y });
246 let body_id = create_body(world, &body_def);
247
248 create_polygon_shape(world, body_id, &shape_def, &polygon);
249
250 x += 0.4;
251 }
252
253 y += 0.4;
254 }
255}
256
257// (CreateWasher)
258pub fn create_washer(world: &mut World) {
259 let kinematic = true;
260
261 {
262 let body_def = default_body_def();
263 // groundId is only used to anchor the (disabled) revolute joint branch.
264 let _ground_id = create_body(world, &body_def);
265 }
266
267 {
268 let motor_speed = 25.0;
269
270 let mut body_def = default_body_def();
271 body_def.position = to_pos(Vec2 { x: 0.0, y: 10.0 });
272
273 if kinematic {
274 body_def.type_ = BodyType::Kinematic;
275 body_def.angular_velocity = (PI / 180.0) * motor_speed;
276 body_def.linear_velocity = Vec2 {
277 x: 0.001,
278 y: -0.002,
279 };
280 } else {
281 body_def.type_ = BodyType::Dynamic;
282 }
283
284 let body_id = create_body(world, &body_def);
285
286 let shape_def = default_shape_def();
287
288 let r0 = 14.0;
289 let r1 = 16.0;
290 let r2 = 18.0;
291
292 let angle = PI / 18.0;
293 let q = Rot {
294 c: angle.cos(),
295 s: angle.sin(),
296 };
297 let qo = Rot {
298 c: (0.1 * angle).cos(),
299 s: (0.1 * angle).sin(),
300 };
301 let mut u1 = Vec2 { x: 1.0, y: 0.0 };
302 for i in 0..36 {
303 let u2 = if i == 35 {
304 Vec2 { x: 1.0, y: 0.0 }
305 } else {
306 rotate_vector(q, u1)
307 };
308
309 {
310 let a1 = inv_rotate_vector(qo, u1);
311 let a2 = rotate_vector(qo, u2);
312
313 let p1 = mul_sv(r1, a1);
314 let p2 = mul_sv(r2, a1);
315 let p3 = mul_sv(r1, a2);
316 let p4 = mul_sv(r2, a2);
317
318 let points = [p1, p2, p3, p4];
319 let hull = compute_hull(&points);
320
321 let polygon = make_polygon(&hull, 0.0);
322 create_polygon_shape(world, body_id, &shape_def, &polygon);
323 }
324
325 if i % 9 == 0 {
326 let p1 = mul_sv(r0, u1);
327 let p2 = mul_sv(r1, u1);
328 let p3 = mul_sv(r0, u2);
329 let p4 = mul_sv(r1, u2);
330
331 let points = [p1, p2, p3, p4];
332 let hull = compute_hull(&points);
333
334 let polygon = make_polygon(&hull, 0.0);
335 create_polygon_shape(world, body_id, &shape_def, &polygon);
336 }
337
338 u1 = u2;
339 }
340 }
341
342 let grid_count: i32 = if BENCHMARK_DEBUG { 20 } else { 90 };
343 let a = 0.1;
344
345 let polygon = make_square(a);
346 let mut body_def = default_body_def();
347 body_def.type_ = BodyType::Dynamic;
348 let mut shape_def = default_shape_def();
349 shape_def.enable_hit_events = true;
350
351 let mut y = -1.1 * a * grid_count as f32 + 10.0;
352 for _ in 0..grid_count {
353 let mut x = -1.1 * a * grid_count as f32;
354
355 for _ in 0..grid_count {
356 body_def.position = to_pos(Vec2 { x, y });
357 let body_id = create_body(world, &body_def);
358
359 create_polygon_shape(world, body_id, &shape_def, &polygon);
360
361 x += 2.1 * a;
362 }
363
364 y += 2.1 * a;
365 }
366}
367
368// (CreateJunkyard)
369pub fn create_junkyard(world: &mut World) {
370 {
371 let grid_size = 1.0;
372
373 let body_def = default_body_def();
374 let ground_id = create_body(world, &body_def);
375
376 let shape_def = default_shape_def();
377
378 let y = 0.0;
379 let mut x = -80.0 * grid_size;
380 for _ in 0..161 {
381 let box_shape = make_offset_box(
382 0.55 * grid_size,
383 0.5 * grid_size,
384 Vec2 { x, y },
385 ROT_IDENTITY,
386 );
387 create_polygon_shape(world, ground_id, &shape_def, &box_shape);
388 x += grid_size;
389 }
390
391 let mut y = grid_size;
392 let x = -80.0 * grid_size;
393 for _ in 0..50 {
394 let box_shape = make_offset_box(
395 0.5 * grid_size,
396 0.55 * grid_size,
397 Vec2 { x, y },
398 ROT_IDENTITY,
399 );
400 create_polygon_shape(world, ground_id, &shape_def, &box_shape);
401 y += grid_size;
402 }
403
404 let mut y = grid_size;
405 let x = 80.0 * grid_size;
406 for _ in 0..50 {
407 let box_shape = make_offset_box(
408 0.5 * grid_size,
409 0.55 * grid_size,
410 Vec2 { x, y },
411 ROT_IDENTITY,
412 );
413 create_polygon_shape(world, ground_id, &shape_def, &box_shape);
414 y += grid_size;
415 }
416 }
417
418 let column_count = 200;
419 let row_count: i32 = if BENCHMARK_DEBUG { 2 } else { 40 };
420
421 let radius = 0.25;
422 let polygon;
423 {
424 // Fibonacci sphere algorithm
425 let phi = PI * (5.0f32.sqrt() - 1.0);
426 let mut points = [Vec2 { x: 0.0, y: 0.0 }; 5];
427
428 for (i, point) in points.iter_mut().enumerate() {
429 let theta = phi * i as f32;
430 let cs = compute_cos_sin(theta);
431 point.x = radius * cs.cosine;
432 point.y = radius * cs.sine;
433 }
434
435 let hull = compute_hull(&points);
436 polygon = make_polygon(&hull, 0.0);
437 }
438
439 let mut body_def = default_body_def();
440 body_def.type_ = BodyType::Dynamic;
441 let shape_def = default_shape_def();
442
443 let mut side = -0.1;
444 let y_start = 15.0;
445
446 for i in 0..column_count {
447 let x = 1.5 * (2.0 * i as f32 - column_count as f32) * radius;
448
449 for j in 0..row_count {
450 let y = 4.0 * j as f32 * radius + y_start;
451
452 body_def.position = to_pos(Vec2 { x: x + side, y });
453 side = -side;
454
455 let body_id = create_body(world, &body_def);
456 create_polygon_shape(world, body_id, &shape_def, &polygon);
457 }
458 }
459
460 body_def.type_ = BodyType::Kinematic;
461 body_def.position = to_pos(VEC2_ZERO);
462 let pusher_id = create_body(world, &body_def);
463 JUNKYARD_PUSHER_ID.with(|id| id.set(pusher_id));
464 let box_shape = make_offset_box(2.0, 4.0, Vec2 { x: 0.0, y: 4.0 }, ROT_IDENTITY);
465 create_polygon_shape(world, pusher_id, &shape_def, &box_shape);
466}
467
468// (StepJunkyard)
469pub fn step_junkyard(world: &mut World, step_count: i32) -> f32 {
470 let time_step = 1.0 / 60.0;
471 let time = time_step * step_count as f32;
472 let cs = compute_cos_sin(0.2 * time);
473 let target = WorldTransform {
474 p: to_pos(Vec2 {
475 x: 60.0 * cs.sine,
476 y: 0.0,
477 }),
478 q: ROT_IDENTITY,
479 };
480 let pusher_id = JUNKYARD_PUSHER_ID.with(|id| id.get());
481 body_set_target_transform(world, pusher_id, target, time_step, true);
482 0.0
483}