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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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22
benchmarks3d/joint_prismatic3.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();
let rad = 0.4;
let num = 5;
@@ -47,19 +48,10 @@ pub fn init_world(testbed: &mut Testbed) {
UnitVector::new_normalize(vector![-1.0, 1.0, 0.0])
};
let z = Vector::z();
let mut prism = PrismaticJoint::new(
Point::origin(),
axis,
z,
point![0.0, 0.0, -shift],
axis,
z,
);
prism.limits_enabled = true;
prism.limits[0] = -2.0;
prism.limits[1] = 2.0;
joints.insert(curr_parent, curr_child, prism);
let prism = PrismaticJoint::new(axis)
.local_anchor2(point![0.0, 0.0, -shift])
.limit_axis([-2.0, 0.0]);
impulse_joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child;
}
@@ -70,6 +62,6 @@ 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![262.0, 63.0, 124.0], point![101.0, 4.0, -3.0]);
}