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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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18
src/dynamics/rigid_body_set.rs
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@@ -1,11 +1,11 @@
use crate::data::{Arena, ComponentSet, ComponentSetMut, ComponentSetOption};
use crate::dynamics::{
IslandManager, RigidBodyActivation, RigidBodyColliders, RigidBodyDominance, RigidBodyHandle,
RigidBodyType,
ImpulseJointSet, RigidBody, RigidBodyCcd, RigidBodyChanges, RigidBodyDamping, RigidBodyForces,
RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyVelocity,
};
use crate::dynamics::{
JointSet, RigidBody, RigidBodyCcd, RigidBodyChanges, RigidBodyDamping, RigidBodyForces,
RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyVelocity,
IslandManager, MultibodyJointSet, RigidBodyActivation, RigidBodyColliders, RigidBodyDominance,
RigidBodyHandle, RigidBodyType,
};
use crate::geometry::ColliderSet;
use std::ops::{Index, IndexMut};
@@ -132,13 +132,14 @@ impl RigidBodySet {
handle
}
/// Removes a rigid-body, and all its attached colliders and joints, from these sets.
/// Removes a rigid-body, and all its attached colliders and impulse_joints, from these sets.
pub fn remove(
&mut self,
handle: RigidBodyHandle,
islands: &mut IslandManager,
colliders: &mut ColliderSet,
joints: &mut JointSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
) -> Option<RigidBody> {
let rb = self.bodies.remove(handle.0)?;
/*
@@ -154,9 +155,10 @@ impl RigidBodySet {
}
/*
* Remove joints attached to this rigid-body.
* Remove impulse_joints attached to this rigid-body.
*/
joints.remove_joints_attached_to_rigid_body(handle, islands, self);
impulse_joints.remove_joints_attached_to_rigid_body(handle, islands, self);
multibody_joints.remove_articulations_attached_to_rigid_body(handle, islands, self);
Some(rb)
}