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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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9
examples3d/debug_boxes3.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 joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -25,10 +26,10 @@ pub fn init_world(testbed: &mut Testbed) {
}
// Build the dynamic box rigid body.
for _ in 0..6 {
for _ in 0..2 {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![1.1, 0.0, 0.0])
.rotation(vector![0.8, 0.2, 0.1])
// .rotation(vector![0.8, 0.2, 0.1])
.can_sleep(false)
.build();
let handle = bodies.insert(rigid_body);
@@ -39,6 +40,6 @@ 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![10.0, 10.0, 10.0], Point::origin());
}