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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
examples2d/all_examples2.rs
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@@ -20,6 +20,7 @@ mod debug_total_overlap2;
mod debug_vertical_column2;
mod drum2;
mod heightfield2;
mod inverse_kinematics2;
mod joint_motor_position2;
mod joints2;
mod locked_rotations2;
@@ -84,6 +85,7 @@ pub fn main() {
("Damping", damping2::init_world),
("Drum", drum2::init_world),
("Heightfield", heightfield2::init_world),
("Inverse kinematics", inverse_kinematics2::init_world),
("Joints", joints2::init_world),
("Locked rotations", locked_rotations2::init_world),
("One-way platforms", one_way_platforms2::init_world),