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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
examples3d/all_examples3.rs
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@@ -42,6 +42,7 @@ mod debug_cube_high_mass_ratio3;
mod debug_internal_edges3;
mod debug_long_chain3;
mod debug_multibody_ang_motor_pos3;
mod inverse_kinematics3;
mod joint_motor_position3;
mod keva3;
mod locked_rotations3;
@@ -108,6 +109,7 @@ pub fn main() {
("Dynamic trimeshes", dynamic_trimesh3::init_world),
("Heightfield", heightfield3::init_world),
("Impulse Joints", joints3::init_world_with_joints),
("Inverse kinematics", inverse_kinematics3::init_world),
("Joint Motor Position", joint_motor_position3::init_world),
("Locked rotations", locked_rotations3::init_world),
("One-way platforms", one_way_platforms3::init_world),