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Joint API and joint motors improvements

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This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
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13
benchmarks2d/joint_fixed2.rs
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@@ -38,17 +38,16 @@ pub fn init_world(testbed: &mut Testbed) {
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x + fk * shift, y - fi * shift])
.build();
.translation(vector![x + fk * shift, y - fi * shift]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint =
FixedJoint::new().local_frame2(Isometry::translation(0.0, shift));
let joint = FixedJointBuilder::new()
.local_frame2(Isometry::translation(0.0, shift));
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -56,8 +55,8 @@ pub fn init_world(testbed: &mut Testbed) {
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint =
FixedJoint::new().local_frame2(Isometry::translation(-shift, 0.0));
let joint = FixedJointBuilder::new()
.local_frame2(Isometry::translation(-shift, 0.0));
impulse_joints.insert(parent_handle, child_handle, joint);
}