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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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23
examples3d/debug_articulations3.rs
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@@ -25,17 +25,20 @@ fn create_ball_articulations(
RigidBodyType::Dynamic
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(vector![fk * shift, 0.0, fi * shift * 2.0])
.build();
let rigid_body = RigidBodyBuilder::new(status).translation(vector![
fk * shift,
0.0,
fi * shift * 2.0
]);
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad);
colliders.insert_with_parent(collider, child_handle, bodies);
// Vertical multibody_joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
let joint =
SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]);
multibody_joints.insert(parent_handle, child_handle, joint);
}
@@ -43,7 +46,7 @@ fn create_ball_articulations(
if k > 0 && i > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]);
// let joint =
// PrismaticJoint::new(Vector::y_axis()).local_anchor2(point![-shift, 0.0, 0.0]);
// let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
@@ -68,15 +71,13 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.02, 0.0])
.rotation(vector![0.1, 0.0, 0.1])
.build();
.rotation(vector![0.1, 0.0, 0.1]);
colliders.insert(collider);
let rigid_body = RigidBodyBuilder::new_dynamic().build();
let rigid_body = RigidBodyBuilder::new_dynamic();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.0, 0.0])
.rotation(vector![0.1, 0.0, 0.1])
.build();
.rotation(vector![0.1, 0.0, 0.1]);
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider, handle, &mut bodies);