nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Complete the implementation of non-simd joint motor for the revolute joint.

Browse Source
This commit is contained in:
Crozet Sébastien
2021-02-19 15:21:25 +01:00
parent a1ddda5077
commit e9f17f32e8
14 changed files with 483 additions and 343 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
src_testbed/nphysics_backend.rs
View File

@@ -121,12 +121,11 @@ impl NPhysicsWorld {
}
nphysics_joints.insert(c);
}
JointParams::GenericJoint(_) => {
eprintln!(
"Joint type currently unsupported by the nphysics backend: GenericJoint."
)
}
} // JointParams::GenericJoint(_) => {
// eprintln!(
// "Joint type currently unsupported by the nphysics backend: GenericJoint."
// )
// }
}
}

27
src_testbed/physx_backend.rs
View File

@@ -344,13 +344,27 @@ impl PhysxWorld {
.into_physx()
.into();
physx_sys::phys_PxRevoluteJointCreate(
let revolute_joint = physx_sys::phys_PxRevoluteJointCreate(
physics.as_mut_ptr(),
actor1,
&frame1 as *const _,
actor2,
&frame2 as *const _,
);
physx_sys::PxRevoluteJoint_setDriveVelocity_mut(
revolute_joint,
params.motor_target_vel,
true,
);
if params.motor_damping != 0.0 {
physx_sys::PxRevoluteJoint_setRevoluteJointFlag_mut(
revolute_joint,
physx_sys::PxRevoluteJointFlag::eDRIVE_ENABLED,
true,
);
}
}
JointParams::PrismaticJoint(params) => {
@@ -420,12 +434,11 @@ impl PhysxWorld {
actor2,
&frame2 as *const _,
);
}
JointParams::GenericJoint(_) => {
eprintln!(
"Joint type currently unsupported by the nphysics backend: GenericJoint."
)
}
} // JointParams::GenericJoint(_) => {
// eprintln!(
// "Joint type currently unsupported by the PhysX backend: GenericJoint."
// )
// }
}
}
}