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Add the option to automatically wake-up rigid-bodies a new joint is attached to

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This commit is contained in:
Sébastien Crozet
2022-05-30 18:24:46 +02:00
parent 6ce26f3818
commit ab8833f275
16 changed files with 138 additions and 111 deletions
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64
examples3d/joints3.rs
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@@ -24,9 +24,9 @@ fn create_coupled_joints(
.coupled_axes(JointAxesMask::Y | JointAxesMask::Z);
if use_articulations {
multibody_joints.insert(ground, body1, joint1);
multibody_joints.insert(ground, body1, joint1, true);
} else {
impulse_joints.insert(ground, body1, joint1);
impulse_joints.insert(ground, body1, joint1, true);
}
}
@@ -66,9 +66,9 @@ fn create_prismatic_joints(
.limits([-2.0, 2.0]);
if use_articulations {
multibody_joints.insert(curr_parent, curr_child, prism);
multibody_joints.insert(curr_parent, curr_child, prism, true);
} else {
impulse_joints.insert(curr_parent, curr_child, prism);
impulse_joints.insert(curr_parent, curr_child, prism, true);
}
curr_parent = curr_child;
}
@@ -130,9 +130,9 @@ fn create_actuated_prismatic_joints(
}
if use_articulations {
multibody_joints.insert(curr_parent, curr_child, prism);
multibody_joints.insert(curr_parent, curr_child, prism, true);
} else {
impulse_joints.insert(curr_parent, curr_child, prism);
impulse_joints.insert(curr_parent, curr_child, prism, true);
}
curr_parent = curr_child;
@@ -185,15 +185,15 @@ fn create_revolute_joints(
];
if use_articulations {
multibody_joints.insert(curr_parent, handles[0], revs[0]);
multibody_joints.insert(handles[0], handles[1], revs[1]);
multibody_joints.insert(handles[1], handles[2], revs[2]);
multibody_joints.insert(handles[2], handles[3], revs[3]);
multibody_joints.insert(curr_parent, handles[0], revs[0], true);
multibody_joints.insert(handles[0], handles[1], revs[1], true);
multibody_joints.insert(handles[1], handles[2], revs[2], true);
multibody_joints.insert(handles[2], handles[3], revs[3], true);
} else {
impulse_joints.insert(curr_parent, handles[0], revs[0]);
impulse_joints.insert(handles[0], handles[1], revs[1]);
impulse_joints.insert(handles[1], handles[2], revs[2]);
impulse_joints.insert(handles[2], handles[3], revs[3]);
impulse_joints.insert(curr_parent, handles[0], revs[0], true);
impulse_joints.insert(handles[0], handles[1], revs[1], true);
impulse_joints.insert(handles[1], handles[2], revs[2], true);
impulse_joints.insert(handles[2], handles[3], revs[3], true);
}
curr_parent = handles[3];
@@ -228,9 +228,9 @@ fn create_revolute_joints_with_limits(
// .coupled_axes(JointAxesMask::ANG_Y | JointAxesMask::ANG_Z);
if use_articulations {
multibody_joints.insert(ground, platform1, joint1);
multibody_joints.insert(ground, platform1, joint1, true);
} else {
impulse_joints.insert(ground, platform1, joint1);
impulse_joints.insert(ground, platform1, joint1, true);
}
let joint2 = RevoluteJointBuilder::new(z)
@@ -247,9 +247,9 @@ fn create_revolute_joints_with_limits(
// .coupled_axes(JointAxesMask::ANG_Y | JointAxesMask::ANG_Z);
if use_articulations {
multibody_joints.insert(platform1, platform2, joint2);
multibody_joints.insert(platform1, platform2, joint2, true);
} else {
impulse_joints.insert(platform1, platform2, joint2);
impulse_joints.insert(platform1, platform2, joint2, true);
}
// Let’s add a couple of cuboids that will fall on the platforms, triggering the joint limits.
@@ -315,9 +315,9 @@ fn create_fixed_joints(
let joint = FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}
@@ -326,7 +326,7 @@ fn create_fixed_joints(
let parent_index = body_handles.len() - 1;
let parent_handle = body_handles[parent_index];
let joint = FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
body_handles.push(child_handle);
@@ -374,9 +374,9 @@ fn create_spherical_joints(
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}
@@ -385,7 +385,7 @@ fn create_spherical_joints(
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
body_handles.push(child_handle);
@@ -426,11 +426,11 @@ fn create_spherical_joints_with_limits(
.limits(JointAxis::Y, [-0.3, 0.3]);
if use_articulations {
multibody_joints.insert(ground, ball1, joint1);
multibody_joints.insert(ball1, ball2, joint2);
multibody_joints.insert(ground, ball1, joint1, true);
multibody_joints.insert(ball1, ball2, joint2, true);
} else {
impulse_joints.insert(ground, ball1, joint1);
impulse_joints.insert(ball1, ball2, joint2);
impulse_joints.insert(ground, ball1, joint1, true);
impulse_joints.insert(ball1, ball2, joint2, true);
}
}
@@ -493,9 +493,9 @@ fn create_actuated_revolute_joints(
}
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}
@@ -559,9 +559,9 @@ fn create_actuated_spherical_joints(
}
if use_articulations {
multibody_joints.insert(parent_handle, child_handle, joint);
multibody_joints.insert(parent_handle, child_handle, joint, true);
} else {
impulse_joints.insert(parent_handle, child_handle, joint);
impulse_joints.insert(parent_handle, child_handle, joint, true);
}
}