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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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24
benchmarks3d/joint_revolute3.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 = 10;
@@ -49,22 +50,21 @@ pub fn init_world(testbed: &mut Testbed) {
colliders.insert_with_parent(collider, handles[k], &mut bodies);
}
// Setup four joints.
let o = Point::origin();
// Setup four impulse_joints.
let x = Vector::x_axis();
let z = Vector::z_axis();
let revs = [
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x),
RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z),
RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![-shift, 0.0, 0.0]),
RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]),
RevoluteJoint::new(x).local_anchor2(point![shift, 0.0, 0.0]),
];
joints.insert(curr_parent, handles[0], revs[0]);
joints.insert(handles[0], handles[1], revs[1]);
joints.insert(handles[1], handles[2], revs[2]);
joints.insert(handles[2], handles[3], revs[3]);
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]);
curr_parent = handles[3];
}
@@ -74,6 +74,6 @@ 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![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]);
}