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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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16
benchmarks3d/joint_fixed3.rs
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@@ -40,17 +40,20 @@ pub fn init_world(testbed: &mut Testbed) {
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![x + fk * shift, y, z + fi * shift])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
x + fk * shift,
y,
z + 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_anchor2(point![0.0, 0.0, -shift]);
let joint =
FixedJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
@@ -58,7 +61,8 @@ 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_anchor2(point![-shift, 0.0, 0.0]);
let joint =
FixedJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}