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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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27
examples2d/ccd2.rs
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@@ -16,27 +16,24 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 25.0;
let ground_thickness = 0.1;
let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true).build();
let rigid_body = RigidBodyBuilder::new_static().ccd_enabled(true);
let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_thickness);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![-3.0, 0.0])
.build();
let collider =
ColliderBuilder::cuboid(ground_thickness, ground_size).translation(vector![-3.0, 0.0]);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![6.0, 0.0])
.build();
let collider =
ColliderBuilder::cuboid(ground_thickness, ground_size).translation(vector![6.0, 0.0]);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
let collider = ColliderBuilder::cuboid(ground_thickness, ground_size)
.translation(vector![2.5, 0.0])
.sensor(true)
.active_events(ActiveEvents::INTERSECTION_EVENTS)
.build();
.active_events(ActiveEvents::INTERSECTION_EVENTS);
let sensor_handle = colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
@@ -72,19 +69,18 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.linvel(vector![100.0, -10.0])
.ccd_enabled(true)
.build();
.ccd_enabled(true);
let handle = bodies.insert(rigid_body);
// for part in &compound_parts {
// let collider = ColliderBuilder::new(part.1.clone())
// .position_wrt_parent(part.0)
// .build();
// ;
// colliders.insert_with_parent(collider, handle, &mut bodies);
// }
let collider = ColliderBuilder::new(compound_shape.clone()).build();
// let collider = ColliderBuilder::cuboid(radx, rady).build();
let collider = ColliderBuilder::new(compound_shape.clone());
// let collider = ColliderBuilder::cuboid(radx, rady);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -114,6 +110,7 @@ pub fn init_world(testbed: &mut Testbed) {
if parent_handle1 != ground_handle && prox.collider1 != sensor_handle {
graphics.set_body_color(parent_handle1, color);
}
if parent_handle2 != ground_handle && prox.collider2 != sensor_handle {
graphics.set_body_color(parent_handle2, color);
}