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feat: add simple inverse-kinematics solver for multibodies (#632)

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* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies

* feat: add 2d inverse kinematics example

* feat: make forward_kinematics auto-fix the root’s degrees of freedom

* feat: add 3d inverse kinematics example

* chore: update changelog

* chore: clippy fixes

* chore: more clippy fixes

* fix tests
This commit is contained in:
Sébastien Crozet
2024-05-25 10:36:34 +02:00
committed by GitHub
parent af1ac9baa2
commit 62379de9ec
22 changed files with 755 additions and 212 deletions
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2
crates/rapier_testbed2d-f64/Cargo.toml
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@@ -28,7 +28,7 @@ other-backends = ["wrapped2d"]
features = ["parallel", "other-backends"]
[dependencies]
nalgebra = { version = "0.32", features = ["rand"] }
nalgebra = { version = "0.32", features = ["rand", "glam025"] }
rand = "0.8"
rand_pcg = "0.3"
instant = { version = "0.1", features = ["web-sys", "now"] }