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diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..88f46a1
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,18 @@
+[package]
+name = "rapier-example"
+version = "0.1.0"
+edition = "2021"
+license = "BSD-3-Clause"
+repository = "https://github.com/rapier-example"
+# macroquad 0.3.26 requires MSRV 1.73
+rust-version = "1.73"
+description = "Rapier Physics with Macroquad 🗡️ building a basic game physics simulation in Rust using rapier physics and Macroquad for rendering 🖥️"
+
+[dependencies]
+crossbeam = "0.8.4"
+egui = "0.21.0"
+egui-macroquad = "0.15"
+macroquad = { version = "0.3.26", default-features = false }
+rand = "0.8.5"
+rand_distr = "0.4.3"
+rapier2d = { version = "0.18.0", features = ["simd-stable"] }
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..6894f41
--- /dev/null
+++ b/README.md
@@ -0,0 +1,30 @@
+
+
+
+
+ 
+
+
+
+ Rapier Example
+
+
+# rapier-example
+
+Starting out with Rapier Rust game physics and Macroquad game library examples. This code accompanies the blog post on using Rapier with Macroquad. If you have any questions, please drop a comment at the bottom of that page.
+
+## Usage
+
+
+
+Clone the repo then run:
+
+```shell
+cargo run --example hello_world
+cargo run --example bubbles
+```
+
+## ☎️ Issues
+
+Feel free to jump into the
+[Rodney Lab matrix chat room](https://matrix.to/#/%23rodney:matrix.org).
diff --git a/dprint.json b/dprint.json
new file mode 100644
index 0000000..0685546
--- /dev/null
+++ b/dprint.json
@@ -0,0 +1,16 @@
+{
+ "json": {
+ },
+ "markdown": {
+ },
+ "toml": {
+ },
+ "excludes": [
+ "**/*-lock.json"
+ ],
+ "plugins": [
+ "https://plugins.dprint.dev/json-0.19.2.wasm",
+ "https://plugins.dprint.dev/markdown-0.16.4.wasm",
+ "https://plugins.dprint.dev/toml-0.6.1.wasm"
+ ]
+}
diff --git a/examples/bubbles.rs b/examples/bubbles.rs
new file mode 100644
index 0000000..e846ba1
--- /dev/null
+++ b/examples/bubbles.rs
@@ -0,0 +1,342 @@
+#![warn(clippy::all, clippy::pedantic)]
+
+use macroquad::{
+ color::Color,
+ input::{is_key_released, KeyCode},
+ miniquad::date,
+ rand::{self as macroquad_rand, srand},
+ shapes::draw_circle,
+ window::{clear_background, next_frame, Conf},
+};
+use rand::{rngs::StdRng, Rng, SeedableRng};
+use rand_distr::Standard;
+use rapier2d::{
+ dynamics::{
+ CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
+ RigidBodyBuilder, RigidBodyHandle, RigidBodySet,
+ },
+ geometry::{
+ BroadPhase, ColliderBuilder, ColliderSet, CollisionEvent, CollisionEventFlags, NarrowPhase,
+ },
+ math::Isometry,
+ na::{vector, DVector, Vector2},
+ pipeline::{ActiveEvents, ChannelEventCollector, PhysicsPipeline, QueryPipeline},
+ prelude::nalgebra,
+};
+
+pub const BLUE_CRAYOLA: Color = Color {
+ r: 33.0 / 255.0,
+ g: 118.0 / 255.0,
+ b: 1.0,
+ a: 1.0,
+};
+
+pub const CARROT_ORANGE: Color = Color {
+ r: 247.0 / 255.0,
+ g: 152.0 / 255.0,
+ b: 36.0 / 255.0,
+ a: 1.0,
+};
+pub const CELESTIAL_BLUE: Color = Color {
+ r: 51.0 / 255.0,
+ g: 161.0 / 255.0,
+ b: 253.0,
+ a: 1.0,
+};
+pub const GUNMETAL: Color = Color {
+ r: 49.0 / 255.0,
+ g: 57.0 / 255.0,
+ b: 60.0 / 255.0,
+ a: 1.0,
+};
+pub const SUNGLOW: Color = Color {
+ r: 4253.0 / 255.0,
+ g: 202.0 / 255.0,
+ b: 64.0 / 255.0,
+ a: 1.0,
+};
+
+const BALL_COLOURS: [Color; 4] = [BLUE_CRAYOLA, CARROT_ORANGE, CELESTIAL_BLUE, SUNGLOW];
+
+const WINDOW_WIDTH: f32 = 1366.0;
+const WINDOW_HEIGHT: f32 = 768.0;
+// 1 metre is 50 pixels
+const PHYSICS_SCALE: f32 = 50.0;
+const BALL_RADIUS: f32 = 0.6;
+
+#[derive(Debug)]
+struct Ball {
+ radius: f32,
+ position: Vector2,
+ physics_handle: Option,
+ colour: Color,
+}
+
+impl Default for Ball {
+ fn default() -> Ball {
+ Ball {
+ radius: BALL_RADIUS,
+ position: vector![
+ WINDOW_WIDTH / (2.0 * PHYSICS_SCALE),
+ (2.0 * BALL_RADIUS) - (1.0 * WINDOW_HEIGHT / PHYSICS_SCALE)
+ ],
+ physics_handle: None,
+ colour: BALL_COLOURS[macroquad_rand::gen_range(0, BALL_COLOURS.len())],
+ }
+ }
+}
+
+impl Ball {
+ fn physics_handle(&mut self, physics_handle: RigidBodyHandle) -> &mut Ball {
+ self.physics_handle = Some(physics_handle);
+ self
+ }
+}
+
+fn conf() -> Conf {
+ #[allow(clippy::cast_possible_truncation)]
+ Conf {
+ window_title: String::from("Macroquad Rapier Bubbles"),
+ window_width: WINDOW_WIDTH as i32,
+ window_height: WINDOW_HEIGHT as i32,
+ high_dpi: true,
+ ..Default::default()
+ }
+}
+
+fn create_physics_for_ball(
+ ball: &Ball,
+ rigid_body_set: &mut RigidBodySet,
+ collider_set: &mut ColliderSet,
+ normal_distribution: &mut StdRng,
+) -> RigidBodyHandle {
+ let x_velocity = normal_distribution.sample(Standard);
+ let linear_velocity = vector![x_velocity, 1.0];
+ let rigid_body = RigidBodyBuilder::dynamic()
+ .translation(ball.position)
+ .linvel(linear_velocity)
+ .build();
+ let collider = ColliderBuilder::ball(BALL_RADIUS)
+ .restitution(0.0)
+ .density(0.001)
+ .active_events(ActiveEvents::COLLISION_EVENTS)
+ .build();
+ let ball_body_handle = rigid_body_set.insert(rigid_body);
+ collider_set.insert_with_parent(collider, ball_body_handle, rigid_body_set);
+ ball_body_handle
+}
+
+fn create_ceiling(ceiling_width: f32, max_balls: u32, collider_set: &mut ColliderSet) {
+ let collider_half_thickness = 0.05;
+ let nsubdivs: usize = (max_balls * 2)
+ .try_into()
+ .expect("Expected fewer subdivisions");
+ let heights = DVector::from_fn(nsubdivs + 1, |i, _| if i % 2 == 0 { -1.2 } else { 0.0 });
+ let collider =
+ ColliderBuilder::heightfield(heights, vector![ceiling_width, collider_half_thickness])
+ .translation(vector![
+ 0.5 * WINDOW_WIDTH / PHYSICS_SCALE,
+ -1.0 * collider_half_thickness
+ ])
+ .friction(1.0)
+ .restitution(0.0)
+ .build();
+ collider_set.insert(collider);
+}
+
+fn create_ground(collider_set: &mut ColliderSet) {
+ let collider_thickness = 0.1;
+ let collider = ColliderBuilder::cuboid(100.0, collider_thickness)
+ .translation(vector![
+ 0.0,
+ (WINDOW_HEIGHT / -PHYSICS_SCALE) - 0.5 * collider_thickness
+ ])
+ .sensor(true)
+ .build();
+ collider_set.insert(collider);
+}
+
+fn create_side_walls(gap: f32, collider_set: &mut ColliderSet) {
+ // left wall
+ let collider_half_thickness = 0.05;
+ let collider =
+ ColliderBuilder::cuboid(0.5 * WINDOW_HEIGHT / PHYSICS_SCALE, collider_half_thickness)
+ .position(Isometry::new(
+ vector![
+ gap - collider_half_thickness,
+ (WINDOW_HEIGHT / (-2.0 * PHYSICS_SCALE))
+ ],
+ std::f32::consts::FRAC_PI_2,
+ ))
+ .build();
+ collider_set.insert(collider);
+
+ // right wall
+ let collider_half_thickness = 0.05;
+ let collider =
+ ColliderBuilder::cuboid(0.5 * WINDOW_HEIGHT / PHYSICS_SCALE, collider_half_thickness)
+ .position(Isometry::new(
+ vector![
+ (WINDOW_WIDTH / PHYSICS_SCALE) + collider_half_thickness - gap,
+ (WINDOW_HEIGHT / (-2.0 * PHYSICS_SCALE))
+ ],
+ 3.0 * std::f32::consts::FRAC_PI_2,
+ ))
+ .build();
+ collider_set.insert(collider);
+}
+
+fn draw_balls(balls: &[Ball]) {
+ for ball in balls {
+ let Ball {
+ colour,
+ position,
+ radius,
+ ..
+ } = ball;
+ draw_circle(
+ PHYSICS_SCALE * position.x,
+ -PHYSICS_SCALE * position.y,
+ PHYSICS_SCALE * radius,
+ *colour,
+ );
+ }
+}
+
+fn update_balls(balls: &mut [Ball], rigid_body_set: &RigidBodySet) {
+ for ball in balls {
+ if let Some(handle) = ball.physics_handle {
+ let ball_body = &rigid_body_set[handle];
+ ball.position = *ball_body.translation();
+ }
+ }
+}
+
+#[macroquad::main(conf)]
+async fn main() {
+ // seed macroquad random number generator
+ #[allow(clippy::cast_sign_loss, clippy::cast_possible_truncation)]
+ {
+ srand(date::now().floor() as u64);
+ }
+
+ let mut rigid_body_set = RigidBodySet::new();
+ let mut collider_set = ColliderSet::new();
+
+ // Create the ground
+ create_ground(&mut collider_set);
+
+ // Create the ceiling
+ // maximum number of balls that can fit across the window
+ let max_balls: u32;
+ #[allow(
+ clippy::cast_precision_loss,
+ clippy::cast_sign_loss,
+ clippy::cast_possible_truncation
+ )]
+ {
+ max_balls = ((WINDOW_WIDTH / PHYSICS_SCALE) / (2.0 * BALL_RADIUS)).floor() as u32;
+ }
+
+ let ceiling_width: f32;
+ #[allow(clippy::cast_precision_loss)]
+ {
+ ceiling_width = max_balls as f32 * BALL_RADIUS * 2.0;
+ }
+ create_ceiling(ceiling_width, max_balls, &mut collider_set);
+
+ // gap at left and right edge of window
+ let gap = 0.5 * ((WINDOW_WIDTH / PHYSICS_SCALE) - ceiling_width);
+
+ // Create the left and right wall
+ create_side_walls(gap, &mut collider_set);
+
+ // Create ball
+ let mut normal_distribution = StdRng::from_entropy();
+ let mut new_ball = Ball::default();
+ let ball_body_handle = create_physics_for_ball(
+ &new_ball,
+ &mut rigid_body_set,
+ &mut collider_set,
+ &mut normal_distribution,
+ );
+ new_ball.physics_handle(ball_body_handle);
+ let mut balls: Vec = Vec::with_capacity(256);
+ balls.push(new_ball);
+
+ // Create other structures necessary for the simulation
+ // positive gravity indicates it is applied upwards (reversed)
+ let gravity = vector![0.0, 1.0];
+ let integration_parameters = IntegrationParameters::default();
+ let mut physics_pipeline = PhysicsPipeline::new();
+ let mut island_manager = IslandManager::new();
+ let mut broad_phase = BroadPhase::new();
+ let mut narrow_phase = NarrowPhase::new();
+ let mut impulse_joint_set = ImpulseJointSet::new();
+ let mut multibody_joint_set = MultibodyJointSet::new();
+ let mut ccd_solver = CCDSolver::new();
+ let mut query_pipeline = QueryPipeline::new();
+ let physics_hooks = ();
+ let (collision_send, collision_recv) = crossbeam::channel::unbounded();
+ let (contact_force_send, _contact_force_recv) = crossbeam::channel::unbounded();
+ let event_handler = ChannelEventCollector::new(collision_send, contact_force_send);
+
+ let mut paused = false;
+
+ // run the game loop, stepping the simulation once per frame.
+ loop {
+ if is_key_released(KeyCode::Escape) {
+ break;
+ }
+
+ clear_background(GUNMETAL);
+ draw_balls(&balls);
+
+ if !paused {
+ physics_pipeline.step(
+ &gravity,
+ &integration_parameters,
+ &mut island_manager,
+ &mut broad_phase,
+ &mut narrow_phase,
+ &mut rigid_body_set,
+ &mut collider_set,
+ &mut impulse_joint_set,
+ &mut multibody_joint_set,
+ &mut ccd_solver,
+ Some(&mut query_pipeline),
+ &physics_hooks,
+ &event_handler,
+ );
+
+ // update ball positions (used for drawing)
+ update_balls(&mut balls, &rigid_body_set);
+
+ // wait for existing balls to settle before spawning a new one
+ if island_manager.active_dynamic_bodies().is_empty() {
+ let mut new_ball = Ball::default();
+ let ball_body_handle = create_physics_for_ball(
+ &new_ball,
+ &mut rigid_body_set,
+ &mut collider_set,
+ &mut normal_distribution,
+ );
+ new_ball.physics_handle(ball_body_handle);
+ balls.push(new_ball);
+ }
+
+ // end simulation if a ball touches the ground
+ while let Ok(collision_event) = collision_recv.try_recv() {
+ if let CollisionEvent::Started(
+ _collider_handle_1,
+ _collider_handle_2,
+ CollisionEventFlags::SENSOR,
+ ) = collision_event
+ {
+ paused = true;
+ };
+ }
+ }
+ next_frame().await;
+ }
+}
diff --git a/examples/hello_world.rs b/examples/hello_world.rs
new file mode 100644
index 0000000..4bb1a3b
--- /dev/null
+++ b/examples/hello_world.rs
@@ -0,0 +1,147 @@
+use macroquad::{
+ color::Color,
+ input::{is_key_released, KeyCode},
+ shapes::draw_circle,
+ window::{clear_background, next_frame, Conf},
+};
+use rapier2d::{
+ dynamics::{
+ CCDSolver, ImpulseJointSet, IntegrationParameters, IslandManager, MultibodyJointSet,
+ RigidBodyBuilder, RigidBodySet,
+ },
+ geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase},
+ na::{vector, Vector2},
+ pipeline::{PhysicsPipeline, QueryPipeline},
+ prelude::nalgebra,
+};
+
+pub const CARROT_ORANGE: Color = Color {
+ r: 247.0 / 255.0,
+ g: 152.0 / 255.0,
+ b: 36.0 / 255.0,
+ a: 1.0,
+};
+pub const GUNMETAL: Color = Color {
+ r: 49.0 / 255.0,
+ g: 57.0 / 255.0,
+ b: 60.0 / 255.0,
+ a: 1.0,
+};
+
+const WINDOW_WIDTH: f32 = 1366.0;
+const WINDOW_HEIGHT: f32 = 768.0;
+// 1 metre is 50 pixels
+const PHYSICS_SCALE: f32 = 50.0;
+const BALL_RADIUS: f32 = 0.6;
+
+#[derive(Debug)]
+struct Ball {
+ radius: f32,
+ position: Vector2,
+}
+
+impl Default for Ball {
+ fn default() -> Ball {
+ Ball {
+ radius: BALL_RADIUS,
+ position: vector![
+ WINDOW_WIDTH / (2.0 * PHYSICS_SCALE),
+ -WINDOW_HEIGHT / (2.0 * PHYSICS_SCALE),
+ ],
+ }
+ }
+}
+
+fn conf() -> Conf {
+ #[allow(clippy::cast_possible_truncation)]
+ Conf {
+ window_title: String::from("Rapier Macroquad Hello World"),
+ window_width: WINDOW_WIDTH as i32,
+ window_height: WINDOW_HEIGHT as i32,
+ high_dpi: true,
+ ..Default::default()
+ }
+}
+
+#[macroquad::main(conf)]
+async fn main() {
+ let mut ball = Ball::default();
+
+ let mut rigid_body_set = RigidBodySet::new();
+ let mut collider_set = ColliderSet::new();
+
+ // Create the ground
+ let collider_half_thickness = 0.05;
+ let collider = ColliderBuilder::cuboid(
+ WINDOW_WIDTH / (2.0 * PHYSICS_SCALE),
+ collider_half_thickness,
+ )
+ .translation(vector![
+ 0.0,
+ (WINDOW_HEIGHT / -PHYSICS_SCALE) - collider_half_thickness
+ ])
+ .build();
+ collider_set.insert(collider);
+
+ // Create the bouncing ball
+ let rigid_body = RigidBodyBuilder::dynamic()
+ .translation(ball.position)
+ .build();
+ let collider = ColliderBuilder::ball(BALL_RADIUS).restitution(0.7).build();
+ let ball_body_handle = rigid_body_set.insert(rigid_body);
+ collider_set.insert_with_parent(collider, ball_body_handle, &mut rigid_body_set);
+
+ // Create other structures necessary for the simulation
+ let gravity = vector![0.0, -9.81];
+ let integration_parameters = IntegrationParameters::default();
+ let mut physics_pipeline = PhysicsPipeline::new();
+ let mut island_manager = IslandManager::new();
+ let mut broad_phase = BroadPhase::new();
+ let mut narrow_phase = NarrowPhase::new();
+ let mut impulse_joint_set = ImpulseJointSet::new();
+ let mut multibody_joint_set = MultibodyJointSet::new();
+ let mut ccd_solver = CCDSolver::new();
+ let mut query_pipeline = QueryPipeline::new();
+ let physics_hooks = ();
+ let event_handler = ();
+
+ // run the game loop, stepping the simulation once per frame.
+ loop {
+ clear_background(GUNMETAL);
+
+ if is_key_released(KeyCode::Escape) {
+ break;
+ }
+
+ draw_circle(
+ PHYSICS_SCALE * ball.position.x,
+ -PHYSICS_SCALE * ball.position.y,
+ PHYSICS_SCALE * ball.radius,
+ CARROT_ORANGE,
+ );
+
+ physics_pipeline.step(
+ &gravity,
+ &integration_parameters,
+ &mut island_manager,
+ &mut broad_phase,
+ &mut narrow_phase,
+ &mut rigid_body_set,
+ &mut collider_set,
+ &mut impulse_joint_set,
+ &mut multibody_joint_set,
+ &mut ccd_solver,
+ Some(&mut query_pipeline),
+ &physics_hooks,
+ &event_handler,
+ );
+
+ let ball_body = &rigid_body_set[ball_body_handle];
+ println!("Ball altitude: {}", ball_body.translation().y);
+
+ // update ball position (used for drawing)
+ ball.position = *ball_body.translation();
+
+ next_frame().await;
+ }
+}
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