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Implement multibody joints and the new solver

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This commit is contained in:
Sébastien Crozet
2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
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15
benchmarks2d/joint_prismatic2.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Create the balls
@@ -46,12 +47,10 @@ pub fn init_world(testbed: &mut Testbed) {
UnitVector::new_normalize(vector![-1.0, 1.0])
};
let mut prism =
PrismaticJoint::new(Point::origin(), axis, point![0.0, shift], axis);
prism.limits_enabled = true;
prism.limits[0] = -1.5;
prism.limits[1] = 1.5;
joints.insert(curr_parent, curr_child, prism);
let mut prism = PrismaticJoint::new(axis)
.local_anchor2(point![0.0, shift])
.limit_axis([-1.5, 1.5]);
impulse_joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child;
}
@@ -61,6 +60,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![80.0, 80.0], 15.0);
}