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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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11
examples3d/fountain3.rs
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@@ -6,7 +6,9 @@ const MAX_NUMBER_OF_BODIES: usize = 400;
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();
let rad = 0.5;
/*
@@ -63,7 +65,8 @@ pub fn init_world(testbed: &mut Testbed) {
*handle,
&mut physics.islands,
&mut physics.colliders,
&mut physics.joints,
&mut physics.impulse_joints,
&mut physics.multibody_joints,
);
if let Some(graphics) = &mut graphics {
@@ -76,10 +79,10 @@ 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
// .physics_state_mut()
// .integration_parameters
// .velocity_based_erp = 0.2;
// .erp = 0.2;
testbed.look_at(point![-30.0, 4.0, -30.0], point![0.0, 1.0, 0.0]);
}