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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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56
examples3d/debug_prismatic3.rs
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@@ -7,16 +7,12 @@ fn prismatic_repro(
impulse_joints: &mut ImpulseJointSet,
box_center: Point<f32>,
) {
let box_rb = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(vector![box_center.x, box_center.y, box_center.z])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(1.0, 0.25, 1.0).build(),
box_rb,
bodies,
);
let box_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
box_center.x,
box_center.y,
box_center.z
]));
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 0.25, 1.0), box_rb, bodies);
let wheel_y = -1.0;
let wheel_positions = vec![
@@ -28,36 +24,28 @@ fn prismatic_repro(
for pos in wheel_positions {
let wheel_pos_in_world = box_center + pos;
let wheel_rb = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
])
.build(),
);
colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies);
let wheel_rb = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
wheel_pos_in_world.x,
wheel_pos_in_world.y,
wheel_pos_in_world.z
]));
colliders.insert_with_parent(ColliderBuilder::ball(0.5), wheel_rb, bodies);
let (stiffness, damping) = (0.05, 0.2);
let prismatic = PrismaticJoint::new(Vector::y_axis())
let prismatic = PrismaticJointBuilder::new(Vector::y_axis())
.local_anchor1(point![pos.x, pos.y, pos.z])
.motor_position(0.0, stiffness, damping);
impulse_joints.insert(box_rb, wheel_rb, prismatic);
}
// put a small box under one of the wheels
let gravel = bodies.insert(
RigidBodyBuilder::new_dynamic()
.translation(vector![box_center.x + 1.0, box_center.y - 2.4, -1.0])
.build(),
);
colliders.insert_with_parent(
ColliderBuilder::cuboid(0.5, 0.1, 0.5).build(),
gravel,
bodies,
);
let gravel = bodies.insert(RigidBodyBuilder::new_dynamic().translation(vector![
box_center.x + 1.0,
box_center.y - 2.4,
-1.0
]));
colliders.insert_with_parent(ColliderBuilder::cuboid(0.5, 0.1, 0.5), gravel, bodies);
}
pub fn init_world(testbed: &mut Testbed) {
@@ -75,11 +63,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(vector![0.0, -ground_height, 0.0])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
prismatic_repro(